Magnetically lifted vehicles using hover engines

ABSTRACT

Electromechanical systems using magnetic fields to induce eddy currents and generate lift are described. Magnet configurations which can be employed in the systems are illustrated. The magnet configuration can be used to generate lift and/or thrust. Arrangements of hover engines, which can employ the magnet configurations, are described. Further, vehicles, which employ the hover engines and associated hover engines are described.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims priority under 35 U.S.C. §120 and is acontinuation of U.S. patent application Ser. No. 15/152,431, filed May11, 2016 and titled “Magnetically Lifted Vehicles Using Hover Engines”,which claims priority under 35 U.S.C. §120 and is a continuation of U.S.patent application Ser. No. 14/919,537, filed Oct. 21, 2015 and titled“Magnetically Lifted Vehicles Using Hover Engines”, now issued as U.S.Pat. No. 9,352,665 on May 31, 2016. U.S. patent application Ser. No.14/919,537, claims priority under 35 U.S.C. §120 and is acontinuation-in-part of each of U.S. patent application Ser. Nos.14/737,442 and 14/737,444, each filed Jun. 11, 2015, each by Henderson,et al, each titled, “Propulsion and Control For a Magnetically LiftedVehicle,” each of which are incorporated by reference in their entiretyand for all purposes. U.S. patent application Ser. No. 14/737,444 isissued as U.S. Pat. No. 9,254,759. U.S. patent application Ser. No.14/737,442 is issued as U.S. Pat. No. 9,325,220.

-   -   U.S. patent application Ser. Nos. 14/737,442 and 14/737,444 each        claim priority under 35 U.S.C. §119(e) to U.S. Provisional        Patent Application No. 62/066,891, filed Oct. 21, 2014, entitled        “Hoverboard,” by Henderson et al, which is incorporated by        reference in its entirety for all purposes herein.    -   U.S. patent application Ser. Nos. 14/737,442 and 14/737,444 each        claim priority under 35 U.S.C. §119(e) to United States        Provisional Patent Application No. 62/011,011, filed Jun. 11,        2014, entitled “Applications of Magnet Arrangements having a        One-sided Magnetic Flux Distribution,” by Henderson et al, which        is incorporated by reference in its entirety for all purposes        herein.    -   U.S. patent application Ser. Nos. 14/737,442 and 14/737,444 each        claim priority under 35 U.S.C. §119(e) to U.S. Provisional        Patent Application No. 62/031,756, filed Jul. 31, 2014, entitled        “Propulsion and Control for a Magnetically Lifted Vehicle,” by        Henderson et al, which is incorporated by reference in its        entirety for all purposes herein.    -   U.S. patent application Ser. Nos. 14/737,442 and 14/737,444,        each claim priority under 35 U.S.C. §120, and each are a        continuation-in-part of each of U.S. patent application Ser. No.        14/639,045, issued as U.S. Pat. No. 9,126,487, titled        “Hoverboard which Generates Lift to Carry a Person,” and U.S.        patent application Ser. No. 14/639,047, titled “Hoverboard,”        issued as U.S. Pat. No. 9,263,974, each filed Mar. 4, 2015, each        by Henderson et al., and each of which are incorporated by        references and for all purposes.    -   U.S. patent application Ser. Nos. 14/639,045 and 14/639,047,        each claim priority to U.S. Provisional Applications 61/977,045,        62/066,891, 62/011,011 and 62/031,756 and each claim priority to        and are a continuations in part of U.S. patent application Ser.        No. 14/069,359, entitled “Magnetic Levitation of a Stationary or        Moving Object,” filed Oct. 31, 2013, issued as U.S. Pat. No.        9,148,077, by Henderson, which claims priority under 35 U.S.C.        §119(e) to U.S. Provisional Patent Application Ser. No.        61/799,695, entitled “Stationary Magnetic Levitation” by        Henderson, filed Mar. 15, 2013 each of which are incorporated by        reference in their entirety and for all purposes

FIELD OF THE INVENTION

This invention generally relates to electromagnetic levitation systems,and more particularly to devices, which employ electromagneticlevitation.

BACKGROUND

It is well known that two permanent magnets will attract or repulse oneanother at close distances depending on how the poles of the magnets arealigned. When aligned with the gravitational force vector, magneticrepulsion can be used to counteract gravity and lift an object. For thepurposes of lifting an object and then moving it from one location toanother location, magnetic repulsion is either unstable or too stable.In particular, opposing magnets can either be aligned such that theobject remains in place but then can't be easily be moved to anotherlocation or the magnets can be aligned such that the object is easilymoveable but won't remain in place but not both.

Another magnetic repulsion effect is associated with generating a movingmagnetic field near a conductive object. When a permanent magnet ismoved near a conductive object, such as a metal object, eddy currentsare established in the conductive object, which generate an opposingmagnetic field. For example, when a permanent magnet is dropped througha copper pipe, an opposing magnetic field is generated whichsignificantly slows the magnet as compared to a non-magnetic objectdropped through the pipe. As another example, in some types of electricmotors, current is supplied to coils which interact with magnets to movethe magnets. The moving magnets interact with the coils to induce eddycurrents in the coils which oppose the flow of current supplied to thecoils. Magnetic forces including magnetic lift are of interest inmechanical systems to potentially orientate and move objects relative toone another while limiting the physical contact between the objects. Onemethod of generating magnetic lift involves an electromagneticinteraction between moving magnetic fields and induced eddy currents.This approach, using eddy currents, is relatively undeveloped. In viewof the above, new methods and apparatus for generating magnetic liftusing eddy currents are needed.

SUMMARY

Electromechanical systems using magnetic fields to induce eddy currentsin a conductive substrate and generate lift are described. Inparticular, hover engines are described which rotate a configuration ofmagnets to induce eddy currents in a conductive substrate where theinteraction between the magnets and the induced eddy currents are usedto generate lift forces and/or propulsive forces. In one embodiment, togenerate propulsive forces, mechanisms are provided which allow anorientation of the configuration of magnets relative to the conductivesubstrate to be changed. The mechanisms enable control of a directionand a magnitude of the propulsive forces. Vehicles using thesemechanisms are described.

In another embodiment, a vehicle with a two pairs of hover engines isdescribed. Each pair of hover engines is coupled to a hinge mechanismwhich rotates the pair of hover engines in unison. Each hover engine iscoupled to the vehicle at fixed angle such each hover engine outputssimultaneously lifting and propulsive forces. A directional controlscheme which utilizes the propulsive forces of the hover engines and therotation capabilities of the hinge mechanisms is described.

In one embodiment, a vehicle generally characterized as including fourhover engines secured to hinge mechanisms which are secured to a riderplatform is described. Each of the hover engines has an electric motorincluding a winding, a first set of permanent magnets and a firststructure which holds the first permanent magnets. An electric currentis applied to the winding can cause one of the winding or the first setof permanent magnets to rotate. The hover engine also includes a secondstructure, configured to receive a rotational torque from the electricmotor to rotate the second structure. The second structure can hold asecond set of permanent magnets where the second set of permanentmagnets are rotated to induce eddy currents in a substrate such that theinduced eddy currents and the second set of permanent magnets interactto generate forces which cause the vehicle to hover above and/ortranslate from location to location along the substrate.

The vehicle can also include one or more speed controllers coupled tothe hover engines and an on-board electric power source that suppliesthe electric current to the hover engines via the one or more speedcontrollers. In one embodiment, the vehicle can include four electronicspeed controllers. Each of the electronic speed controllers can beconfigured to be coupled to one of the hover engines.

The rider platform can have a front end, a back end and an uppersurface. A first hinge mechanism can be located near the front end andbeneath the rider platform. The first hinge mechanism can be coupled tothe rider platform, the first hover engine and the second hover engine.The first hinge mechanism can be configured to rotate the first hoverengine and the second hover engine in a first direction, during flight,when a force is applied on a first portion of the upper surface, and ina second direction, opposite the first direction, when the force isapplied on a second portion of the upper surface.

A second hinge mechanism can be located near the back end and beneaththe rider platform. The second hinge mechanism can be coupled to therider platform, the third hover engine and the fourth hover engine. Thesecond hinge mechanism can be configured to rotate the third hoverengine and the fourth hover engine in the first direction, duringflight, when the force is applied on a third portion of the uppersurface, and in the second direction, when the force is applied on afourth portion of the upper surface.

The first hover engine, the second hover engine, the third hover engineand the fourth hover engine can each be secured to the vehicle at afixed angle such that each of the first hover engine, the second hoverengine, the third hover engine and the fourth hover engine output atranslational force. When the vehicle is in a first orientation duringflight, the translational forces from each of first hover engine, secondhover engine, the third hover engine and the fourth hover engine canapproximately cancel one another to provide a net translational forcewhich is approximately zero. In other orientations, force imbalances canbe created which cause the vehicle to move forwards, backwards andsideways. Further, the vehicle can be made to translate and turn orspin.

In one embodiment, the rider platform can be a skateboard deck. Further,the first hinge mechanism and the second hinge mechanism can each bemechanically secured to a bottom of an interface plate and the riderplatform is mechanically can be secured to a top of the interface plate.Alternatively, the first hinge mechanism and the second hinge mechanismcan each be mechanically coupled directly to the rider platform.Further, the first hinge mechanism or the second hinge mechanism can beadjustable to increase or decrease a magnitude of the force needed toinstantiate a particular amount of rotation in the first hinge mechanismor the second hinge mechanism.

In other embodiments, the on-board electric power source can be securedin an enclosure beneath the rider platform between the first hingemechanism and the second hinge mechanism. Also, the on-board electricpower source can include a plurality of battery pouch cells. The batterypouch cells can be stacked and connected in series to generate a desiredoutput voltage level.

In yet other embodiments, the vehicle can include a wireless transceiverconfigured to communicate with a remote device and the one or more speedcontrollers. The one or more electronic speed controllers can beconfigured to receive, via the wireless transceiver, a command from theremote device to shut down the first hover engine, the second hoverengine, the third hover engine and the fourth hover engine and inresponse to the command, shutdown each of the hover engines. In oneembodiment, each of the electronic speed controllers is mounted aboveone of the hover engines.

The rider platform includes a first side and a second side along alength of the rider platform between the front end and the back end.When the force is applied in a fifth portion on the upper surface nearthe first side, both the first hinge mechanism and the second hingemechanism can rotate in opposite directions to cause the vehicle totranslate sideways in a direction from the second side to the firstside. The vehicle can be configured such that when the force is appliednear the back end of the upper surface, the front end rises and thevehicle translates forwards and when the force is applied near the frontend of the upper surface, the back end rises and the vehicle translatesbackwards. In embodiment, the vehicle is configured such that only thefirst hinge mechanism rotates, when the force is applied on the firstportion of the upper surface or on the second portion of the uppersurface. In response, the vehicle translates and turns when the force isapplied on the first portion of the upper surface or on the secondportion of the upper surface.

BRIEF DESCRIPTION OF THE DRAWINGS

The included drawings are for illustrative purposes and serve only toprovide examples of possible structures and process steps for thedisclosed inventive systems and methods. These drawings in no way limitany changes in form and detail that may be made to the invention by oneskilled in the art without departing from the spirit and scope of theinvention.

FIG. 1 is an illustration of a person riding a hoverboard in accordancewith the described embodiments.

FIGS. 2 and 3 are illustrations of eddy currents generated on aconductive plate in response to arrangements of magnets rotated abovethe plates in accordance with the described embodiments.

FIG. 4A is a plot of lift and drag curves associated with an arrangementof rotating magnets in accordance with the described embodiments.

FIG. 4B is a plot of lift associated with an arrangement of rotatingmagnets as a function of distance from a conductive substrate inaccordance with the described embodiments.

FIG. 4C is a plot of lift curves associated with an arrangement ofrotating magnets as a function a thickness of a conductive substrate andRPM in accordance with the described embodiments.

FIGS. 5A, 5B, 6 and 7 are illustrations of STARMs tilted relative to aconductive substrate and associated forces which are generated inaccordance with the described embodiments.

FIGS. 8A to 8C are illustrations force imbalances resulting from tiltinga hover engine in accordance with the described embodiments.

FIGS. 9A to 9B are illustrations of two orientation control mechanismsfor a hover engine in accordance with the described embodiments.

FIGS. 10A, 10B and 10C are a bottom, top and side view of a batterypowered hoverboard in accordance with the described embodiments.

FIGS. 11A-11C are perspective, top and bottom views of a magneticallylifted device in accordance with the described embodiments.

FIGS. 12A-13 are perspective, front and top views of a magneticallylifted vehicle and perspective views of an attachment componentsassociated with the vehicle in accordance with the describedembodiments.

FIG. 14 illustrates a directional control scheme for the vehicle shownin FIGS. 12A to 13 in accordance with the described embodiments.

FIGS. 15A to 15C are illustrations of a hover engine in accordance withthe described embodiments.

FIG. 16A is a perspective cross section of a hover engine in accordancewith the described embodiments.

FIG. 16B is an outside perspective view of the hover engine shown inFIG. 16A which includes an attached hinge mechanism in accordance withthe described embodiments.

FIG. 16C is a side view of the hinge mechanism shown in FIG. 16B.

FIGS. 17A and 17B are top views of two magnet configurations andassociated polarity alignment patterns where the magnets are arrangedcircularly in accordance with the described embodiments.

FIG. 18 is an illustration of a magnetically lifted device with fourtiltable STARMs in accordance with the described embodiments.

FIGS. 19A to 19C are illustrations of a magnetically lifted device withfour tiltable STARMs tilted in various configurations in accordance withthe described embodiments.

FIG. 20 is an illustration of a magnetically lifted device with fourtiltable STARMs and one fixed STARM in accordance with the describedembodiments.

FIGS. 21 to 23 are illustrations of block diagrams and equationsassociated with a guidance, navigation and control system in accordancewith the described embodiments.

FIGS. 24 and 25 are top and perspective views of a STARM including cubicmagnets arranged in a circular pattern in accordance with the describedembodiments.

FIGS. 26 and 27 are top views of magnet configurations and polarityalignment patterns of magnets arranged in a circular pattern inaccordance with the described embodiments.

FIG. 28 is a top view of a magnet configuration and associated polarityalignment patterns which include magnets that span across the axis ofrotation of a STARM in accordance with the described embodiments.

FIG. 29 is a top view of a magnet configuration and associated polarityalignment patterns which include magnets arranged in a cluster inaccordance with the described embodiments.

FIGS. 30 and 31 are top views of magnet configurations and associatedpolarity alignment patterns which include magnets arranged in lineararrays in accordance with the described embodiments.

FIG. 32 illustrates predicted eddy current patterns for the magnetconfiguration shown in FIG. 24.

FIG. 33 illustrates predicted eddy current patterns and a polarityalignment patterns for a magnet configuration including magnets arrangedin linear arrays which extend across an axis of rotation of a STARM.

FIGS. 34 and 35 are plots of lift versus height which comparenumerically predicted data and experimental data.

FIGS. 36, 37 and 38 are plots of numerical predictions of lift versusheight for eight different magnet configurations.

FIG. 39 is a plot of numerical predictions of lift and thrust versusheight as a function of tilt angle for a circularly arranged magnetconfiguration.

FIGS. 40 and 41 are plots of numerical predictions of lift and thrustforce as a function of tilt angle for the magnet configuration 1290 inFIG. 28.

DESCRIPTION OF THE PREFERRED EMBODIMENTS

The present invention will now be described in detail with reference toa few preferred embodiments thereof as illustrated in the accompanyingdrawings. In the following description, numerous specific details areset forth in order to provide a thorough understanding of the presentinvention. It will be apparent, however, to one skilled in the art, thatthe present invention may be practiced without some or all of thesespecific details. In other instances, well known process steps and/orstructures have not been described in detail in order to notunnecessarily obscure the present invention.

Magnetic Lift System Overview

With respect to FIGS. 1 to 4C, some general examples and operatingprinciples of a magnetic lift system are described. In particular, ahoverboard system configured to lift and propel a rider is discussed.The hoverboard system can include a hoverboard having hover engines anda substrate on which the hoverboard operates. The substrate can includea conductive portion in which eddy currents are induced. Theelectromagnetic interaction between the device which induces the eddycurrents and the induced eddy currents can be used to generateelectromagnetic lift and various translational and rotational controlforces.

A hoverboard is one example of an electromechanical system whichgenerates forces, such as lift, via an interaction between a movingmagnetic field source (e.g., permanent magnets) and induced eddycurrents. FIG. 1 is an illustration of a person 10 riding a hoverboard12. In one embodiment, the hoverboard includes four hover engines, suchas 16. The hover engines 16 generate a magnetic field which changes asfunction of time. The time varying magnetic field interacts with aconductive material in track 14 to form eddy currents. The eddy currentsand their associated magnetic fields and the magnetic fields from thehover engine interact to generate forces, such as a lifting force or apropulsive force. Examples of eddy currents which can be generated aredescribed with respect to FIGS. 2 and 3. Lift and drag associated withinduced eddy currents is described with respect to FIGS. 4A-4C. Furtherdetails of magnet configurations, eddy current patterns, liftpredictions and comparison to experimental data are described below withrespect to FIGS. 24 to 41.

In FIG. 1, the track 14 is formed from copper. In particular, three oneeighth inch sheets of copper layered on top of one another are used.Other conductive materials and track configuration can be used. Forexample, a track formed using a top sheet of copper over aluminum sheetsor only aluminum sheets can be used. Thus, a track formed from coppersheets is described for the purposes of illustration only.

Curved surfaces may be formed more easily using a number of layered thinsheets. For example, a half-pipe can be formed. In FIG. 1, a portion ofa half-pipe is shown. The track 14 can include various sloped and flatsurfaces and the example of half-pipe is provided for illustrativepurposes only.

The thickness of the conductive material which is used can depend on thematerial properties of the conductive material, such as its currentcarrying capacity and the amount of magnetic lift which is desired. Aparticular hover engine, depending on such factors, as the strength ofthe output magnetic field, the rate of movement of the magnetic fieldand the distance of the hover engine from the surface of a track caninduce stronger or weaker eddy currents in a particular track material.Different hover engines can be configured to generate different amountsof lifts and thus, induce stronger or weaker eddy currents.

The current density associated with induced eddy currents in thematerial can be a maximum at the surface and then can decrease with thedistance from the surface. In one embodiment, the current density whichis induced at the surface can be on the order of one to ten thousandamps per centimeter squared. As the conductive material becomes thinner,it can reach a thickness where the amount of current potentially inducedby the hover engine is more than the conductive material can hold. Atthis point, the amount of magnetic lift output from the hover engine candrop relative to the amount of lift which would be potentially generatedif the conductive material was thicker. This effect is discussed in moredetail with respect to FIG. 4C.

As the thickness of the material increases, the induced currents becomesmaller and smaller with increasing distance from the surface. After acertain thickness is reached, additional material results in very littleadditional lift. For the hover engines used for the hoverboard 12,simulations indicated that using ½ inch of copper would not produce muchmore lift relative to using ⅜ inch of copper. In general, thesimulations indicated, that as the rotation rate of the hover engine isincreased, more current was concentrated closer to the surface.

For the device shown in FIG. 1, simulations predicted that using only ⅛inch sheet of copper would significantly lower the lift versus using ahalf inch of copper. Finite element analysis to solve Maxwell'sequations was used. In particular, Ansys Maxwell (Ansys, Inc.,Canonsburg, Pa.).

In various embodiments, the amount of copper which can be used varieddepending on the application. For example, for a small scale model of ahoverboard configured to carry a doll, a ⅛ inch sheet of copper may bemore than sufficient. As another example, a track with a thinner amountof conductive material can lead to less efficient lift generation ascompared to track with a thicker amount of a more conductive material.However, the cost of the conductive material can be traded against theefficiency of lift generation.

A substrate 14 can include a portion which is configured to supportinduced eddy currents. In addition, it can include portions used to addmechanical support or stiffness, to provide cooling and/or to allow atrack portions to be assembled. For example, pipes or fins can beprovided which are configured to remove and/or move heat to a particularlocation. In another example, the substrate 14 can be formed as aplurality of tiles which are configured to interface with one another.In yet another example, the portion of the substrate 14 which is used tosupport the induced eddy currents may be relatively thin and additionalmaterials may be added to provide structural support and stiffness.

In various embodiments, the portion of the substrate 14 used to supportinduced eddy currents may be relatively homogenous in that itsproperties are substantially homogeneous in depth and from location tolocation. For example, a solid sheet of metal, such as silver, copper oraluminum can be considered substantially homogenous in it's in depthproperties and from location to location. As another example, aconductive composite material, such as a polymer or composite, can beused where the material properties on average are relatively homogeneousfrom location to location and in depth.

In other embodiments, the portion of the substrate 14 used to supportthe induced eddy currents can vary in depth but may be relativelyhomogeneous from location to location. For example, the portion of thesubstrate 14 which supports the eddy currents can be formed from a basematerial which is doped with another material. The amount of doping canvary in depth such that the material properties vary in depth.

In other embodiments, the portion of the substrate 14 which supports theeddy currents can be formed from layers of different materials. Forexample, an electric insulator may be used between layers of aconductive material, such as layers of copper insulated from oneanother. In another example, one or more layers of a ferromagneticmaterial can be used with one or more paramagnetic materials ordiamagnetic materials.

In yet another example, the surface of the substrate 14 which supportsthe eddy currents can include a surface structure, such as raised orsunken dimples which effect induced eddy currents or some other materialproperty. Thus, from location to location there may be slight variationsin material properties but averaged over a particular area the materialproperties may be relatively homogeneous from location to location.

In one embodiment, the person can control the hoverboard 12 by shiftingtheir weight and their position on the hoverboard. The shift in weightcan change the orientation of one or more of the hover engines 16relative to the surface of the track 14. The orientation can include adistance of each part of the hover engine from the track. Theorientation of each hover engine, such as 16, relative to the surface ofthe track can result in forces parallel to the surface being generated.

The net force from the hover engines 16 can be used to propel thevehicle in a particular direction and control its spin. In addition, theindividual may be able to lean down and push off the surface 14 topropel the hoverboard 12 in a particular direction or push and then jumponto to the hoverboard 12 to get it moving in a particular direction.

Next, a few examples of magnet arrangements, which can be used with ahover engine, are described with respect to FIGS. 2 and 3. FIGS. 2 and 3are illustrations of eddy currents generated on a conductive plate inresponse to arrangements of magnets rotated above the plates. Theconductive plate is the portion of the substrate which is configured tosupport induced eddy currents. The eddy currents and associated forceswhich are generated were simulated using Ansys Maxwell 3D (Canonsburg,Pa.). In each of the simulations, an arrangement of magnets is rotatedat 1500 RPM at ½ inches height above copper plates 56 and 64,respectively. The copper plates are modeled as ½ inch thick. The plateis modeled as being homogeneous in depth and from location to location.The width and length of the plate is selected such that edge effectsthat can occur when a STARM induces eddy currents near the edge of theplate are minimal.

The magnets are one inch cube Neodymium alloy magnets of strength N50,similar magnets can be purchased via K and J magnetics (Pipersville,Pa.). The magnets weigh about 3.6 ounces each. Magnets of differentsizes, shapes and materials can be utilized and this example is providedfor the purpose of illustration only. For example, a design using twelvemillimeter cubed shaped magnets is described with respect to FIG. 17Aand a design using cylinders and cubic shaped magnets is described withrespect to FIG. 17B.

In FIG. 2, eight one inched cube magnets, such as 50, are arranged withan inner edge about two inches from the z axis. The magnets are modeledas embedded in an aluminum frame 52. The arrow head indicates the northpole of the magnets. The polarities of four of the magnets areperpendicular to the z axis. The open circle indicates a north pole of amagnet and circle with an x indicates a south pole of a magnet. Apolarity pattern involving four magnets is repeated twice.

In various embodiments, the polarity pattern of the magnets shown in thefigure can be repeated one or more times. One or more magnets ofdifferent sizes and shapes can be used to form a volume of magnets whichmatch a polarity direction associated with a polarity pattern. Forexample, two one half inch wide rectangular magnets with a total volumeof one cubic inch or two triangular magnets with a total volume of onecubic inch can be aligned in the same direction to provide a polaritydirection in a polarity pattern. In the polarity pattern, a magnets witha polarity direction different than an adjacent magnet may touch theadjacent magnet or may be separate from the adjacent magnet.

For a given number of magnets of a particular cubic size, the distancefrom the z axis of the face of the magnets can be adjusted such that themagnet's edges are touching or are a small distance apart. With thisexample using eight magnets, an octagon shape would be formed. Aconfiguration of twenty one inch cube magnets arranged around a circlewith the polarity pattern is described below. The inner edge of thisarrangement of magnets is about 3.75 inches from the rotational axis.

When the magnets are brought together, the magnitude of the lift anddrag which is generated per magnet can be increased relative to when themagnets are spaced farther apart. In one embodiment, trapezoidal shapedmagnets can be utilized to allow the magnets to touch one another whenarranged around a rotational axis. A different trapezoidal angle can beused to accommodate different total number of magnets, such as fourmagnets (90 degrees), eight magnets (45 degrees), etc.

A combination of rectangular and triangular shaped magnets can also beused for this purpose. For example, triangular magnets can be placedbetween the cubic magnets shown in FIG. 2. In one embodiment, thepolarity pattern for groups of four trapezoidal magnets or combinationsof rectangular and triangular magnets can be similar to what is shown inFIG. 2.

When the arrangement of eight magnets is rotated above the copper plate,eddy currents are induced in the copper. In the example of FIG. 2, thesimulation indicates four circular eddy currents 56 are generated. Thefour eddy currents circle in alternating directions and areapproximately centered beneath the circulating magnets.

An electromagnetic interaction occurs where the circulating eddycurrents generate a magnetic field which repels the arrangement ofmagnets such that lifting forces and drag forces are generated. Asdescribed above, the center position of the eddy currents rotate as themagnets rotate (This rotation is different from the rotation of thecirculating current which forms each eddy current). However, the eddycurrents are not directly underneath the four magnets aligned with the zaxis. Thus, the eddy currents can generate a magnetic field whichattracts one of the poles of permanent magnets to which it is adjacent.The attractive force can act perpendicular to the lift to produce drag,which opposes a movement of the magnets. The drag can also be associatedwith a torque. The drag torque is overcome by an input torque suppliedby a motor coupled to the arrangement of magnets.

In a simple example, a current circulating in a circular coil generatesa magnetic field which looks like a magnetic field of a bar magnet wherethe orientation (north/south) depends on the direction of the current.The strength of the magnetic field which is generated depends on thearea of the circular coil and the amount of current flowing through thecoil. The coil constrains the locations where the current can flow.

In this example, there are not well defined circuits. Thus, one eddycurrent can interact with an adjacent eddy current. The interactioncauses the magnitude of the current to increase at the interface betweeneddy currents such that magnitude of the current varies aroundcircumference of each eddy current. Further, the current also varies indepth into the material with the greatest current per area occurring atthe surface and then decreasing in depth in to the surface.

In addition, unlike circuits with a fixed position, the center of theeddy currents rotate as the magnets inducing the currents rotates.Unlike when a magnetic is moved linearly over a conductive material,separate eddy current forms in front of and behind the magnet. In thisexample, the four poles (magnets with north and south perpendicular tothe surface of the plate) are close enough such that the eddy currentformed in front of one pole merges with the eddy current formed behindthe next adjacent pole. Thus, the number of eddy currents formed isequal to the number of poles which is four. In general, it was observedfor this type of configuration that the number of eddy currents whichformed was equal to the number of poles used in the magnetconfiguration.

Further, material interfaces can affect the induced eddy currents suchthat an amount of lift and drag which is generated is different near theinterfaces as opposed to away from the interfaces. For example, asurface on which eddy currents are induced can have edges where thematerial which supports the induced eddy currents ends. Near theboundaries, when a STARM approaches an edge, the eddy currents tend toget compressed which affects the resultant lift and drag.

In another example, a surface can have interfaces through which thereare discontinuities in the conductivity. For example, edges of twoadjacent copper sheets used to form a surface may not touch, maypartially touch or may be conductively insulated from one another. Thediscontinuous conductivity can lessen or prevent current from flowingacross the interface which affects the lift and drag generated from theinduced eddy currents.

In one embodiment, a substrate which supports induced eddy currents canbe formed from a number of sheets which are stacked in layers, such ⅛inch copper sheets stacked on top of one another. A discontinuity may beformed in one layer where two adjacent sheets meet, such as small gapsbetween the two sheets which reduce the current which flows from a firstsheet to an adjacent second sheet. The gaps may allow for thermalexpansion and simplify the assembly process. To lessen the effect of thediscontinuity, adjacent edges between sheets can be staggered from layerto layer. Thus, the discontinuity at particular location may occur inone layer but not the other adjacent layers.

In some instances, a conductive paste can be used to improve theconductivity between sheets. In another embodiment, adjacent sheets canbe soldered together. In yet another embodiment, flexible contacts,which can be compressed and then expand, can be used to allow current toflow between different sheets.

In FIG. 3, a three row by five column array of one inch cube magnets,such as 60, is rotated above a copper plate. The arrays could also beusing a single magnet in each row. The magnets are modeled as surroundedby an aluminum frame 62. The magnets in this example are configured totouch one another. A magnet pattern for each row of five magnets isshown. In alternate embodiment, a five magnet pattern of open circle,left arrow (pointing to open circle), circle with an “x”, right arrow(pointing away from circle with an x) and open circle can be used. Thiscompares to the left arrow, circle with an “x”, left arrow, open circleand right arrow pattern shown in the Figure.

The magnet pattern is the same for each row and the magnet polarity isthe same for each column. In various embodiments, a magnet array caninclude one or more rows. For example, a magnet array including only onerow of the pattern shown in FIG. 3 can be used.

Multiple arrays with one or more rows can be arranged on a rotatingbody, such that the rotating body is balanced. For example, magnetarrays of two, three, four, etc. arrays of the same number of magnetscan be arranged on a rotating body. In another embodiment, two or morepairs of magnet arrays with a first number of magnets and two or morepairs of magnets arrays with a second number of magnets can be arrangedopposite one another on a rotating body.

In the example of FIG. 3, two eddy currents, 66, are generated under themagnet array and two eddy currents 70 and 68 are formed ahead and behindthe array. These eddy currents move with the array as the array rotatesaround the plate. As the array is moved over the plate 64, eddycurrents, such as 72 spin off. The eddy currents 66, 68 and 70 generatemagnetic fields which can cause magnetic lift and drag on the array.When two of these types of arrays placed close to one another, thesimulations indicated that the eddy current induced from one array couldmerge with the eddy current induced from the other array. This effectdiminished as the arrays were spaced farther apart.

In the examples of FIGS. 2 and 3, the simulations indicated that morelift force was generated per magnet in the configuration of FIG. 3 ascompared to FIG. 2. Part of this result is attributed to the fact that aportion of the magnets in FIG. 3 is at a greater radius than the magnetsin FIG. 2. For a constant RPM, a greater radius results in a greaterspeed of the magnet relative to the conductive plate which can result inmore lift.

The lift per magnet can be total lift divided by the total magnet volumein cubic inches. For one inch cube magnets, the volume is one cubicinch. Thus, the total number of magnets is equal to the volume in cubicinches. Hence, the use of lift force per magnet in the previousparagraph. The use of total lift divided by the magnet volume of amagnet arrangement provides one means of comparing the lift efficiencyof different magnet arrangements. However, as noted above, the speed ofthe magnet relative to the substrate, which is a function of radius andRPM, effects lift and hence may be important to consider when comparingmagnet configurations.

In FIGS. 2 and 3, a portion of the magnet poles in the magnet polaritypattern are aligned such that the poles are parallel to an axis ofrotation of the STARM (The poles labeled with “x” or “o” in theFigures). When the bottom of a STARM is parallel to a surface whichsupports the induced eddy currents, the portion of the magnet poles andthe axis of rotation are approximately perpendicular to the surface.

In this configuration, to interact with a surface, a STARM can berotated on its side, like a tire riding on a road, where the axis ofrotation is approximately parallel to the surface. In particularembodiments, a mechanism, such as an actuator, can be provided which candynamically rotates one or more of the magnet poles (again, “x” and “o”labeled magnets) during operation. For example, the magnet poles shownin FIGS. 2 and 3 may be rotatable such that they can be moved from anorientation where they are perpendicular to the surface as shown inFIGS. 2 and 3 to an orientation where they are parallel to the surfaceand back again. When the magnets are turned in this manner, the amountof lift and drag which are generated can be reduced. In additionalembodiments, fixed magnet configurations can be utilized where themagnet poles shown in FIGS. 2 and 3 are rotated by some angle betweenzero and ninety degrees relative to their orientation in the FIGS. 2 and3.

FIG. 4A includes a plot 100 of lift 106 and drag 108 curves associatedwith an arrangement of rotating magnets in accordance with the describedembodiments. The curves are force 102 versus rotational velocity 104.The curves can be determined via experimental measurements and/orsimulations. It is noted the magnetic lift and drag is separate from anyaerodynamic lift and drag which may be associated with the rotation ofmagnet arrangement associated with hover engine.

Although not shown, an amount of torque can be determined and plotted.As shown in FIG. 2, an array of magnets can be radially symmetric. Insome instances, such as when a radially symmetric array is parallel tothe conductive substrate, the net drag force may be zero. Nevertheless,a torque which opposes the rotation of the array is generated. Therotational input from a motor can be used to overcome the torque.

As shown in FIG. 4A, the magnetic drag increases as velocity increases,reaches a peak and then starts to decrease with velocity. Whereas, themagnetic lift increases with velocity. The velocity can be the velocityof the magnets relative to the surface which induces the eddy. When themagnets are rotating, this velocity is product of a distance from theaxis of rotation times the angular velocity. The velocity can varyacross a face of a magnet as distance from the axis of rotation variesacross the face of the magnet.

In various simulations of a magnet configuration shown in FIG. 3, themost drag was observed to occur between 250 and 350 RPM. However, theamount of drag including its peak can depends on such variables as thesize and the shape of the magnets, a distance of the magnets from thesubstrate in which the eddy currents are induced, a speed of the magnetsrelative to the substrate which changes as a function of radius and athickness of the substrate and a strength of the magnets. Also, for anarrangement of a plurality of magnets, the arrangement of their polesand spacing relative to one another can affect both the lift and drag,which is generated. Thus, the value range is provided for the purposesof illustration only.

FIG. 4B is a plot of force 102 associated with an arrangement ofrotating magnets as a function of distance 110 from a conductivesubstrate. In this example, a configuration of magnets similar to shownin FIG. 3 was simulated. The plot is based upon a number of simulationsat a constant RPM. The lift appears to follow an exponential decay curveas the distance from the surface 110 increases.

FIG. 4C is a plot of lift curves associated with an arrangement ofrotating magnets as a function a thickness of a conductive substrate andRPM. In this example, a configuration similar to what is shown in FIG. 3was used. The conductive substrate is copper and thickness of the copperis varied between 0.05 and 0.5 inches in the simulation.

The simulations predicted that the amount of generated lift begins todecrease after a certain threshold thickness of copper is reached and isrelatively constant above the threshold. The location of the thresholdvaries as a function of RPM. It may also vary according to the magnetconfiguration. In one simulation, negative lift was predicted, i.e., anattractive force was generated when the thickness was thin enough.

Magnetic Propulsion

In this section, configurations of STARMs, which generate propulsive andlift forces, are described. In particular embodiments, an orientation ofone or more STARMs relative to a substrate can be used to generatepropulsive and/or control forces. Other mechanisms of propulsion arepossible, alone or in combination with controlling the STARM orientationto generate propulsive and directional control forces. Thus, theseexamples are provided for the purpose of illustration only and are notmeant to be limiting. For example, the rotation rate of one or moreSTARM can be varied to provide yaw control.

In FIG. 5A, a STARM 230 is shown in a neutral position. The STARMincludes magnets, such as 238 a and 238 b. In the neutral position, thelifting forces 234 on average over time are equal across the bottomsurface of the STARM 230. Further, the net drag forces 232 acting on theSTARM 230 are balanced (While rotating, the STARM generates a magneticfield which is moved through the conductive substrate 236. The eddycurrents formed in the substrate as a result of the moving magneticfield resist this movement, which can act as a drag force 232 on theSTARM 230). With imbalances due to lift and drag balanced, the STARM 230will substantially remain in place of over the conductive substrate.

Small imbalances may exist, which cause the STARM to move in onedirection or another. For example, local variations in materialproperties in the conductive substrate 236 can cause small forceimbalances. As another example, the dynamic vibration of the STARM 230,such as from adding or removing loads can cause small force imbalances.However, unless the small force imbalances are biased in a particulardirection, the STARM will remain relatively in the same location (i.e.,it might move around a particular location in some manner).

If the rotational momentum is not balanced, the STARM may rotate inplace. A vehicle can include multiple STARMs which are counter rotatingto balance the rotational forces. Further, as will be described below inmore detail, the orientation of a STARM can be controlled to generate amoment around a center of mass of a vehicle, which allows the rotationof a vehicle to be controlled.

FIG. 5B shows the STARM 230 in a tilted position. The STARM 230 has beenrotated around an axis 242 which is perpendicular to the axis ofrotation 235 of the STARM 230. When the STARM 230 is tilted, more dragis generated on the side of the STARM 230 closest to the substrate 236.As is described in more detail below, the drag typically increases whenthe magnets are brought closer to the substrate. The drag imbalance onthe different sides of the STARM causes a thrust to be generated mostlyin the direction of the tilt axis 242, i.e., into or out of the page.For some magnet and system configurations, the lift 244 can remainrelatively constant or even increase as a function of tilt angle, i.e.,lift 244 can be greater than lift 234. The amount of thrust may increasewhen the tilt angle is first increased. The amount of tilt which ispossible can be limited to prevent the STARM 230 form hitting thesubstrate 236.

FIG. 6 shows an example of a hover engine including a STARM 230 andmotor 252 climbing an inclined substrate 236. The hover engine is tiltedto generate a propulsive force 231 which moves the hover engine indirection 233 up the included surface. In one embodiment, the magnitudeof the propulsive force 231 can be sufficient for a hover engine to lifta payload in a vertical direction. For example, the conductive substrate236 can be aligned vertically and the hover engine can be configured toclimb vertically and carry its weight and a payload up the wall.

FIG. 7 shows an example of a hover engine braking as it descends down anincline. In FIG. 7, the hover engine, which includes motor 252 and STARM230, is moving down a sloped substrate in direction 237. The hoverengine is outputting a propulsive force 235 which is pushing the hoverengine up the incline opposite the direction of movement 237. Thebraking force slows the descent of the hover engine down the inclinedsubstrate. In a particular embodiment, a hover engine can be configuredto output a sufficient force to allow it to hold its position on aninclined surface, i.e., the force output from the hover engine balancesthe gravitational forces. In general, hover engines can be configured tooutput forces in a direction of movement for propulsion or opposite thedirection of movement for braking.

FIGS. 8A, 8B and 8C are block diagrams which are used to discuss moredetails associated with hovering and propulsive effects from rotatingarrangements of magnets used in a hover engine. In FIG. 8A, a hoverengine includes a motor 252 is coupled to a STARM 254. The STARM 254 iscoupled to the motor 252 and the motor 252 is coupled to a rotatablemember 258. The rotatable member 258 is coupled to anchors 256 a and 256b. The combination of the rotatable member 258 and the anchors 256 a and256 b can be configured to constrain a range of rotation of therotatable member. For example, the rotatable member 258 may be allowedto rotate through some angle range 264 around its axis.

The rotatable member 258 can be configured to receive and input torquefrom some mechanism. For example, in one embodiment, a mechanicallinkage can be provided which allows a user to supply a force. The forcecan be converted into torque which causes the rotatable member 258 andhence the motor 252 and the STARM 254 to rotate.

In another embodiment, an actuator can be used to supply the torque torotate rotatable member 258. An actuation of the actuator can cause themotor 252 and STARM 254 to tilt relative to the substrate 266. Theactuator can include a servo motor which receives control commands froma controller. In one embodiment, the actuator can include its owncontroller which receives control commands from a separate processor,which is part of the control system.

In yet another embodiment, a hover engine can be configured to receivean input force from a user and can include an actuator. The actuator canbe used to change a position of the STARM, such as returning it to adesignated position after a user has tilted it. In another operationmode, the actuator can be used to provide automatic control around sometilt position initiated by user via an input force.

It yet another embodiment, the actuator can be used to provide automaticcontrols which may be used to correct a control input from a user. Forexample, if the control system detects the magnetically lifted device isan unstable position as a result of a user input, the control system cancontrol one or more STARMs to prevent this event from happening. Amagnetic lifting device, such as hoverboard, can include one or moreon-board sensors used to make these corrections.

A magnetically lifted device may also include one or more weight sensorsfor determining a weight distribution of a payload. The weightdistribution associated with the device and payload can affect theresponse of the device in response a command to change an orientation ofthe device via some mechanism, such as a tiltable hover engine. Forexample, the weight distribution associated with a payload can affectthe magnitude of rotational moments. Thus, knowledge of the weightdistribution may be used to more finely tune the commands used tocontrol the orientation of the STARM, such as selecting which STARM toactuate and an amount to actuate it.

When the STARM 254 and motor 252 are rotating, a rotation of therotatable member 258 changes the angular momentum of the STARM and themotor. It can also change the magnetic forces acting on the STARM 254 asthe magnetic forces vary with the distance of the magnets in the STARM254 from the substrate 266. Therefore, the amount of torque needed torotate the member 258 can depend on the moment of inertia associatedwith the STARM 254 and motor 252, how fast the STARM 254 and motor 262are spinning and the height of the STARM 254 above the substrate 266.The height of the STARM above the substrate can depend on 1) itsrotational velocity, which affects how much lift is generated, and 2) apayload weight and 3) how the payload weight is distributed on thedevice. The height of the STARM above the substrate can vary fordifferent portions of the STARM and from STARM to STARM when a deviceincludes multiple STARMs.

In the example of FIG. 8A, the STARM 254 is approximately parallel tothe substrate 266. The magnetic drag, such as 262 a and 262 b, opposesthe rotation of the STARM 254. The motor 252 is configured to rotate inthe clockwise direction 260. Thus, the drag torque is in the counterclockwise direction. Power is supplied to the motor 252 to overcome thedrag torque.

When the STARM is parallel to the substrate 266, the magnetic drag isbalanced on all sides of the STARM 254. Thus, there is no nettranslational force resulting from the magnetic drag. As is describedwith respect to FIG. 25B, a net translational force is generated whenthe STARM 254 and its associated magnets is tilted relative to thesubstrate.

In FIG. 8B, the STARM 254 is in a titled position 270. Thus, one side ofthe side of STARM 254 is closer to the substrate 266 and one side of theSTARM 254 is farther away from the substrate 266. The magneticinteraction between the magnets in the STARM 254 and substrate decreasesas a distance between the magnets in the STARM and substrate 266increases (As shown in the Figures below, the magnitude of theinteractions vary non-linearly with the distance from the substrate.)Thus, in tilted position 270, the drag force 268 b is increased on oneside of the STARM 254 and the drag force 268 a is reduced on theopposite side of the STARM 254 as shown in FIG. 8B. The drag forceimbalance creates traction, which causes a translational force to begenerated approximately in the direction of the axis of rotation of therotational member 258.

When the STARM 254 is initially tilted, the translational force canresult in an acceleration of the STARM 124 in the indicated directionand hence change in velocity in the indicated direction. In particularembodiments, with one or more STARMs configured to generatetranslational forces, a device can be configured to climb. In anotherembodiment, the device may be configured to maintain its position on aslope while hovering such that the gravitational forces acting on thedevice are balanced by the translational forces generated by the deviceand its associated hover engines.

A configuration and operational mode where a position of a device, suchas a hoverboard, is maintained on a sloped substrate may be used as partof a virtual reality system where a user wears a virtual realityheadset. Via the headset, the user may only see images generated by theheadset or may see images generated by the headset in conjunction withthe local surrounding visible to the user. A virtual reality headset maybe used to generate images of a user moving through some terrain, likesa snowy slope, while the hovering device on which the user is ridingmoves side to side and forward and back on the sloped substrate. Thesloped substrate may provide the user with the feeling of moving on atilted slope while the virtual reality images may provide the visualimagery associated with movement. Fans may be used to add an additionalsensation of movement (e.g., the feeling of wind on the user's skin).

The device can have sufficient propulsive ability to allow it to holdits position on the slope against the force of gravity. For example, thedevice can be moved side to side while it maintains its position on theslope. Further, the device may be able to move downwards on the slopeand then climb upwards on the slope against gravity. In some instance,the climbing can be done while the device's orientation remainsrelatively unchanged, i.e., the device doesn't have to be turned aroundto climb. This maneuver can be accomplished by changing an orientationof the hover engines relative to the substrate which supports theinduced eddy currents. These control functions will be discussed in moredetail as follows.

Returning to FIGS. 8A and 8B the amount of tilt in a particulardirection can affect the amount of force imbalance and hence themagnitude of the acceleration. Because the magnetic drag is function ofthe distance of the magnets from the substrate, the magnetic dragincreases on the side closer to substrate and decreases on the sidefather away from the substrate. As the magnetic forces vary non-linearlywith the distance of the magnets from the surface, the amount oftranslational forces which are generated may vary non-linearly with thetilt position of the STARM.

After a STARM 254 (or both the STARM 254 and motor 252) has been rotatedvia member 258 in a counter clockwise direction and the STARM hasstarted translating in a first direction, an input torque can beprovided which tilts the STARM in a clockwise direction to reduce theamount of translational force which is generated by the STARM. When theSTARM is tilted past the horizontal in the clockwise direction, theSTARM may generate a translational force which is in an oppositedirection of the first direction. The translational force opposing thedirection of motion can slow the STARM and bring it to rest. If desired,the translational force can be applied such that the hoverboard stopsand then the STARM can begin to translate in an opposite direction.

FIG. 8C is a side view of a hover engine 280 coupled to a tilt mechanismin a tilt position. The hover engine includes a motor 252 and a STARM254 which can be positioned over the substrate 266 as shown in FIGS. 25Band 25C. In one embodiment, the mechanism can include a minimum tilt offset angle 284. The minimum tilt off set angle 284 in this example isbetween the horizontal and line 282. The tilt range angle 286 is theangle amount through which the hover engine may rotate starting at theminimum tilt off set angle 284. The tilt mechanism can include one ormore structures which constrain the motion of the tilt mechanism to thetilt angle range.

When the minimum tilt off set angle 284 is zero and the STARM 254 isparallel to the substrate 266, the STARM 254 may not generate a nettranslation force. A device to which a STARM is coupled can be tilted.Therefore, the angle of the STARM relative to the substrate can dependon the orientation of the STARM relative to some reference systemassociated with the device and the orientation of the device relative tothe substrate where both orientations can change as a function of time.Thus, in some instances, a translation force can be generated even whenthe minimum tilt off-set is zero. When the minimum tilt off set angle isgreater than zero, the STARM may generate a net translational force atits minimum position in a particular direction. When the minimum tiltoff set angle is less than zero, then during the tilt angle range themagnitude of the force may be go to zero and the direction of the forcewhich is generated can also change.

In some embodiments, the net minimum force generated by one hover enginecan be balanced in some manner via translational forces associated withother hover engines. For example, as shown, two hover engines can betilted to generate forces in opposite directions to cancel one another.Thus, although the net force for a single hover engine may be greaterthan zero at its minimum tilt off set angle position, it can be balancedby forces generated from another STARM such that the net force acting onthe device is zero.

The forces which are generated from a tilted STARM can vary non-linearlywith angle of the hover engine relative to the substrate. Thus, thechange in force which is generated as a function of a change in anglecan vary non-linearly. By utilizing, a minimum tilt angle offset, thehover engine can be configured to output more or less force in responseto a change in a tilt angle over a selected tilt angle range. In thismanner, the control characteristics of the device can be adjusted.

In one embodiment, the tilt mechanisms can include an adjustable tiltoff set mechanism that allows the minimum tilt off set angle to bemanually set. For example, a rotatable member with a protuberance can beprovided where the protuberance is configured to impinge on a screw atone end of its range of rotation. As the screw is unscrewed, the rangeof rotation of the rotatable member can be decreased and the minimumtilt off set angle can be increased and vice versa. Using the adjustabletilt off set mechanism, a user or operator may be able to manuallyadjust the handling characteristics of the device.

Next, another example of a STARM which can be tilted through multipledegrees of freedom is described. In FIG. 9A, hover engine including aSTARM 254 coupled to a motor 252 is shown. The hover engine is coupledto a support structure 271 via a ball joint 273. Two pistons, 275 a and275 b, are shown which are coupled to the hover engine and the supportstructure 271. The pistons, 275 a and 275 b, can be used to push thehover engine downward and change a tilt angle of the STARM 254 relativeto a substrate 266. A plurality of different pistons can be used to tiltthe motor in a plurality of different directions. Other types ofactuators can be used which generate a downward force on the hoverengine to tilt the STARM 254 and the example of a piston for thepurposes of illustration only.

In FIG. 9B, a first piston 275A is shown extended downwards, which tiltsthe motor 252 and STARM 255 downwards on one side. To bring the motor252 back to a horizontal position, the second piston 275 b can beextended downwards which causes the first piston to shorten 275 a. Totilt the motor 252 and STARM 254 in the opposite direction, the secondpiston 275 b can be extended a greater amount, which forces the firstpiston to shorten 275 a. In various embodiments, multiple pairs ofpistons can be used to tilt the motor in different directions and changea direction in which a force is generated as a result of tilting theSTARM. The pistons can be coupled to the motor and/or the supportstructure via an appropriate joining mechanism which may possess somerotational degrees of freedom.

Vehicles Including Flight Data

In this section, flight data including performance from two vehicles ispresented. First, a description of the vehicles is presented then thetest results are shown. FIG. 10A is a bottom view of vehicle 200. InFIG. 10A, the vehicle 200 includes four hover engines, 204 a, 204 b, 204c and 204 d. The hover engines are of equal size and use similarcomponents, i.e., similar motor, number of magnets, STARM diameter, etc.The dimensions of the vehicle 200 are about 37.5 inches long by 4.5inches high by 18.5 inches wide. The weight of the vehicle unloaded isabout 96.2 pounds.

Each hover engine includes a STARM, such as 225, with a motor (notshown) and engine shroud 218 with a gap between the shroud 218 and STARM225 to allow for rotation. The STARM 225 is mechanically connected tothe motor via fasteners 222. The motor, which mount below the STARMs inthe drawing, provides the input torque which rotates the STARM. Inalternate embodiments, a single motor can be configured to drive morethan one STARM.

The STARMs, such as 225 are 8.5 inches in diameter. The STARMs areconfigured to receive sixteen one inch cube magnets. Thus, the totalvolume of the magnets on the vehicle is sixty four cubic inches. As willbe described below, other STARM designs with different dimensionscarrying different magnet volumes can be used.

The sixteen magnets on each STARM were arranged in a circular patternsimilar to what is shown in FIG. 24. The polarity arrangement pattern issimilar to what is shown in FIG. 24 except the pattern including twoguide magnets and two pole magnets is repeated one less time. Asdescribed below, other polarity arrangement patterns are possible andthis example is provided for the purposes of illustration only.

Neodymium N50 strength magnets are used. The magnets each weigh about3.6 ounces (force). Therefore, the total magnet weight for one hoverengine is about 3.6 pounds (force). Other magnet types and strengths canbe used and N50 magnets are provided for the purposes of illustrationonly.

In one embodiment, the motors can be a q150 DC brushless motor fromHacker Motor (Ergolding, Germany). The motor has a nominal voltage of 50Volts and a no load current of 2 Amps. The weight is about 1995 grams.The speed constant is about 52.7/min. The RPM on eta max is about 2540.The torque on eta max is about 973.3 N-cm. The current on eta max isabout 53.76 Amps.

The hover engines each have a shroud, such as 218. The shroud 218partially encloses the STARM, such that a bottom of the STARM isexposed. In other embodiment, the shroud can enclose a bottom of theSTARM. A tilt mechanism 212 is coupled to the shroud 218 of each hoverengine. The tilt mechanism 212 is coupled to a pivot arm 210. The hoverengines 204 a, 204 b, 204 c and 204 d are suspended beneath a supportstructure 202. The pivot arms, such as 210, extend through an aperturein the support structure.

The motors in each hover engine can be battery powered. In oneembodiment, sixteen battery packs are used. The batteries are VENOM 50C4S 5000 MAH 14.8 Volt lithium polymer battery packs (Atomik RC,Rathdrum, Id.). Each battery weighs about 19.25 ounces. The dimensionsof the batteries are 5.71 inches by 1.77 inches by 1.46 inches. Theminimum voltage is 12 V and the maximum voltage is 16.8 V.

The sixteen batteries are wired together in four groups of fourbatteries and each coupled to motor electronic speed controllers, suchas 206 a and 206 b via connectors 216 a and 216 b to four adjacentbattery packs. The four batteries in each group are wired in series inthis example to provide up to about 60 V to the electronic speedcontrollers. Connectors 216 c and 216 d each connect to four batteriesand an electronic speed controller. Two electronic speed controllers arestacked behind 206 a and 206 b. Thus, four brushless electronic speedcontrollers, one for each motor, are used. In one embodiment, theelectronic speed controllers are Jeti Spin Pro 300 Opto brushlessElectronic Speed Controllers (Jeti USA, Palm Bay, Fla.).

FIG. 10B is a top view 230 of the hoverboard. The hover engines aresuspended beneath the central support structure 202 as described abovewith respect to FIG. 10A. The shrouds, such as 218, of the hover enginesextend slightly beyond an edge of the support structure 202. The shroudscan be made strong enough to support a weight of a person withoutimpinging any underlying parts, such as a rotating STARM.

A rider platform 232 is mounted above the support structure. The top ofthe rider platform 232 may substantially flat, i.e., a minimal amount ofprotuberances. The protuberances may be minimized to allow a rider tomove around the rider platform without tripping. Although, as describedbelow, the rider platform may be configured to bend and flex and hencemay be curved. In one embodiment, the rider platform may include footstraps for securing a rider's feet in place.

Some examples of materials which may be used to form support structure202, shroud 218 and rider platform 232 include but are not limited towood, plywood, plastic, reinforced plastic, polymers, glass fillednylon, fiber glass, reinforced composites, metals (e.g., aluminum),metal alloys, metal composite materials (e.g., an aluminum compositematerial), a hemp composite, composites with a honeycomb core or otherinner structure, composites with a balsa core, expanded metal, etc.

The pivot arms 210, which are attached to each of the hover engineshrouds, such as 218, are coupled to the rider platform 232 atconnection points 234. The rider platform can be formed from a flexiblematerial. When a rider stands on the platform and shifts their weightfrom quadrant to quadrant, the rider platform can flex. The flex cancause the pivot arm coupled to each of connection points 234 to movedownwards which causes the hover engine coupled to each pivot arm totilt. As described above, when the hover engine is tilted, a force canbe generated which is approximately aligned with the tilt axis.

The rider can shift their weight and the amount of weight distributed toeach pivot arm by changing their foot position on the rider platform 232and the amount of weight distributed to each foot. Thus, the amount offorce distributed to each pivot arm can be controlled and hence theamount of tilt to each hover engine can be varied. By varying the tilt,an amount of translational force output by each hover engine in aparticular direction can be controlled. As described above, these forcescan be used to control spin, such as starting or stopping a spin andcontrolling a rate of spin. The forces can also be used to steer thehoverboard.

FIG. 10C is a side view 250 of a hoverboard. As can be seen in the FIG.10C all of the components need to operate the hover engines, such as thebatteries and speed controls are suspended from the bottom of supportstructure 302 and packaged below a height of the bottom of the hoverengine. As described above, the height of the hoverboard from the bottomof the hover engine to the top of the rider platform is about 4.5inches. Thinner designs are possible and this example is provided forthe purposes of illustration only.

In this embodiment, the rider platform 232 is supported at the ends andcoupled to the structure 202 via members 274 a and 274 b. Thisconfiguration allows the rider platform 232 to bend in the middle, suchas when weight is applied at location 254 and 256 above the pivot arms,such as 210. In an alternate embodiment, the rider platform may besupported by a member, which bisects it lengthwise. Then, the riderplatform 232 may be bent on either side of this central member whenweight is applied.

In yet another embodiment, the rider platform 232 may be sectioned toallow portions to move independently of one another. The individualsections can be coupled to the hoverboard such that they may be flexedto actuate one of the tilt mechanisms. In another embodiment, theindividual portions may be coupled to the hoverboard via a hingemechanism. The individual portions can then be rotated about the hinge.

When a hinge mechanism is used, a stiffer material may be utilized forthe individual section. However, a repositioning mechanism, such as oneor more springs or flexible foam, may be used to return the individualportion to an original position after a force is removed. Therepositioning mechanism, such as springs, can also be used to affect theamount of force required to move the individual section.

The hover engine shrouds are coupled to a hinge mechanism 272. The hingemechanism 272 hangs from the support structure 202. The hinge mechanismprovides for rotation about one axis. Some examples of hinge mechanismswhich may be utilized include but are not limited to a butt hinge, abarrel hinge, a flush hinge, a continuous hinge, a pivot hinge, a coiledspring pin hinge and self-closing hinges. A gap is provided beneath thehinge mechanism, the gap allows wires 208 b from the speed controller206 b to reach the motor 265 encircled by the shroud 218. The electronicspeed controllers, such as 206 b, are each connected via connectors,such as 216 b, to four adjacent battery packs (see FIG. 10A). Inalternate embodiments, the shroud 218 can include one or more apertures(e.g., 267) which allow wires to be passed to the motor 265.

In this example, the hinges allow each hover engine to rotate throughsome angle, such as 266 and 269, about one rotational axis. As describedabove with respect to FIGS. 9A and 9B, joints which allow for morerotational degrees of freedom are possible and this example is providedfor the purposes of illustration only. The bottom of the shrouds, suchas 218, when tilted is illustrated by the dashed line 262 and 264. Thetilt angles 258 and 260 are defined as the angle between the shrouds arehorizontal and the bottom of the shrouds when tilted as indicated bylines 262 and 264.

In one embodiment, the hover engines can be configured to tilt up to tendegrees in one direction. In operation, when the weight is removed fromlocations 254 and 256, the rider platform 232 may unbend and the shroudsmay return to a first position. When weight is added, the rider platformmay flex by some amount at each location and the shrouds may each tiltby some amount.

As described above, the amount of tilt associated with each hover enginemay be constrained. Further, the amount of tilt doesn't have to be samefor each hover engine. For example, one hover engine can be allowed torotate up to ten degrees while a second hover engine can be allowed torotate up to only five degrees. In particular embodiments, a hoverengine can be configured to rotate through up to 10 degrees, up to 20degrees or up to 30 degrees of total rotation. The rotation directions266 and 268 are shown for each hover engine. In one embodiment, eachhover engine is allowed to rotate in only one direction. In anotherembodiment, a hover engine may be allowed to rotate in two directions,such as angles of plus or minus ten degrees past the horizontal.

Next, some flight data is described for two vehicles. The first vehicleis similar in design to the vehicle described with respect to FIGS. 10A,10B and 10C. During the test, a data logger was connected to one of themotors, such as 265. The data logger was used to record amps, voltageand RPM of the motor. The data logger is an elogger v4 (Eagle TreeSystems, LLC, Bellevue, Wash.). The data recorded during the test ispresented below in Table 1.

For the test, the unloaded weight of vehicle #1 at the time of zeroseconds is 96.2 pounds. As described above, the vehicle includes fourhover engines and is similar in configuration to vehicle 200. Thevoltage, amps and RPM are measurements from one of the hover engines.The height is measured from the bottom of the magnets on a STARM in oneof the hover engines to the surface of the copper test track. The coppertest track is formed from three, ⅛ inch thick, sheets of copper.

TABLE 1 Flight test data for vehicle #1 Test Vehicle #1 Total Hover Timeweight Power Voltage Current Height (sec) (lbs) (Watts) (Volts) (Amps)RPM (mm) 0 96.2 855 64.64 13.22 3195 24.4 19.6 184 1479 62.93 23.50 302019.9 33.8 273.2 2141 61.22 34.97 2848 15.5 46.9 362.4 2836 59.62 47.582689 14.2 57.7 450.4 3381 58.22 58.07 2549 11.9 69.2 499.6 3665 57.4263.82 2486 10.7 83.3 550 4092 56.46 72.48 2394 11 95.5 579.6 4316 55.9277.18 2361 8.2 103.3 609.2 4418 55.60 79.47 2329 7.5 110.7 629.4 425055.71 76.30 2355 7.9 118.7 649.7 4363 55.27 78.95 2314 7.3

In a second vehicle (not shown), a chassis was formed from plywood. Thevehicle dimensions were 46 inches by 15.5 inches by 5 inches. Thevehicle weighed seventy seven pounds unloaded. Two hover engines withSTARMs of fourteen inches in diameter were used. The hover engines weresecured in place and a mechanism, which allowed the hover engines to betilted, was not provided.

Each STARM included thirty two cubic inch magnets arranged in a circularpattern similar to what is shown in FIG. 24. The polarity arrangementpattern is similar to FIG. 24 as well. However, the polarity arrangementpattern including the two guide magnets and two pole magnets is repeatedmore times as compared to FIG. 24.

Two Hacker motors are used (one for each STARM). Hacker motor model no.QST-150-45-6-48 with a K_(V) of 48 is used to power each STARM. Themotor dimensions are 150 mm by 45 mm and the number of windings in themotor is 6. Each hacker motor is coupled to one of the STARMs and anelectronic speed controller.

For this vehicle, Jeti Spin Pro 200 Opto brushless Electronic SpeedControllers (Jeti USA, Palm Bay, Fla.) are used. The same battery typeas described above for the first test vehicle was used. However, onlyeight batteries were used for the second vehicle as compared to thefirst test vehicle. The batteries are two divided into two groups offour and wired in series to provide a nominal voltage of about sixtyVolts to each motor.

A test was conducted where the second vehicle was allowed to hover infree flight unloaded and then plate weights were added to the vehicle.The plates were weighed before the test began. The vehicle was operatedover three-⅛ inch thick pieces of copper.

The current, voltage and RPM, for one of the motors, were measured inflight using the Eagle system data logger. The distance of the bottom ofthe magnets to the copper, referred to as the hover height, was measuredby hand. Test results for the flight are shown in Table 2 as follows.

TABLE 2 Flight test data for vehicle #2 Test Vehicle #2 Total Hover Timeweight Power Voltage Current Height (sec) (lbs) (Watts) (Volts) (Amps)RPM (mm) 0 77 1853 61.3 30.2 2942 26.9 10 165 3333 58.8 56.7 2820 22.317.1 254 4700 56 84 2686 18.3 23.1 343 5944 52.6 113 2525 14.6

A Second Hover Vehicle Example

A second hover vehicle is described with respect to FIGS. 11A to 11C.The second hover vehicle includes four actuatable STARMs. The STARMs canbe actuated to move the hover vehicle from position to position. Detailsof a Navigation, Guidance and Control (NGC) system, which can beutilized with the vehicle, are described below with respect to FIGS. 18to 23.

FIGS. 11A-11C are perspective, top and bottom views of the second hovervehicle 300, which is a magnetically lifted device. In FIG. 11A, theperspective view is provided with the outer housing of the device 300removed. In addition, the perspective view shows a bottom of the vehicle300. In operation, the vehicle 300 would be flipped over such that theSTARM 302 faces a conductive substrate.

With the outer housing removed, a frame including 1) four posts, such as318 a and 318 b, and an interior plate 316, is exposed. The four posts,such as 318 a and 318 b are each attached to the interior plate 316. Forexample the four posts can be secured to the interior plate 316 using abonding agent or a fastener, such as screw. The outer housing may beformed from six rectangular panels which are each attached to the fourposts, such as 318 a and 318 b. In one embodiment, the device 300 can beabout 25 cm by 25 cm by 12 cm and weight about 4.5 to 5.5 kg unloaded.In another embodiment, the device 300 can be about 21 cm by 21 cm by10.16 cm and weigh about 2.2 to 3.5 kg unloaded. Each device can beconfigured to carry a payload of about 2.27 kg. Depending on the powerstorage capacity of the vehicle, the vehicle weight and the payloadweight, the flight time can be between about four to fifteen minutes ona single battery charge.

In FIG. 11A, a single motor 304, a single STARM 302 and three actuators308 a, 308 b and 308 c are shown. A fully assembled vehicle can includei) four motors, such as 304, which each rotate a STARM, such as 302, ii)four STARMs, such as 302, which are configured to generate magnetic liftand propulsion, when spun over a conductive substrate, such as but notlimited to a metal plate, iii) four servo-motors, such as 308 a, 308 band 308 c, iv) control circuitry, which controls a rotation rate of themotors, moves the servos from position to position and communicateswirelessly with a remote device, such as a smart phone or a wirelesscontroller and a v) battery 306, which provides power to the motors, theservo-motors and the control circuitry. In this example, the battery 306is secured to the interior plate 316. In one embodiment, the device 300can communicate wirelessly using Bluetooth.

In one embodiment, the control circuitry can include a single Q Brain4×20 Amp Brushless electronic speed controller (Hobbyking.com). Thedevice is configured to receive power from a battery, such as a lithiumpolymer (LiPo) battery, with a voltage of approximately 7.4 volts or14.8 V. For example, a 2S LiPo battery includes two cells connected inseries and outputs about 7.4 Volts. Whereas, a 4S LiPo battery includesfour cells connected in series and outputs about 14.8 Volts. Inparticular embodiment, the battery 306 can be a Venom 25c 2s 5000 mAh7.4 Volt LIPO battery or a Venom 35C 4s 5000 mAh 14.8 LIPO battery(Atomik RC, Rathdrum, Id.). These batteries weigh about 320 g and 527 g,respectively.

The single unit (not shown), which provides speed controller functions,can output power to each of the four motors, such as 302, where theamount of power to each motor can be controlled to control a rotationrate of each motor. Thus, the single unit can split power from thebattery 306 to each of the four motors. In one embodiment, the amount ofpower output to each motor can be controlled to allow each motor to havea different rotation rate. The different rotation rates can be used toprovide some control functionality, such as yaw control. In thisexample, the weight of the speed controller is about 112 grams. Inalternate embodiments, the speed control functions can be provided asingle unit or via multiple units, such as a separate speed controllerfor each motor.

In one embodiment, the control circuitry can include a flight controlboard (not shown), such as a HobbyKing KK2.1.5 Multi-Rotor control(HobbyKing.com). The flight control board can receive sensor informationfrom an accelerometers, gyros and compasses on board the device. Forexample, sensors can include a 3-axis accelerometer, a 3-axis gyroscope,a 3-axis compass and combinations thereof.

A processor on the flight control board can receive sensor data from thesensors and then generate control signals which are sent to electronicspeed controller (or controllers) and servo-motors, such as 308 a, 308 band 308 c. The flight control board can also be configured to receivecontrol signals from a remote device, such as a smart phone or othertype of radio controller and in response generate control signals tocontrol the motors, such as 302, the servo-motors or combinationsthereof. In one embodiment, the device 300 can include a Bluetoothreceiver configured to communicate with the flight control board. Invarious embodiments, controlled flight generated using the flightcontrol board and/or control signals from a remote device can includeone or more of up, down, backwards, forwards, left, right, yaw and pitchmovements. These movements can be instantiated via independent controlof each of 1) a tilt angle of a STARM, which is coupled to the motor, a2) rotation rate of the STARM and combinations thereof.

In device 300, four servo-motors can be clustered together in a centerof the device between the four motors. The four servo-motors can be heldtogether using frame components 312 and 314. The cluster of fourservo-motors can be coupled to the interior plate 316. In oneembodiment, the servo-motors can each be Hitec HS-5485HB servos (HitecRCD USA, Inc., Poway, Calif.). The servos can be configured to receive4.8 V or 6.0V. The weight of each servo is about 45 grams. The torqueoutput, depending on the voltage input, for each servo is about 5.2 or6.4 kg/cm. For vehicles using larger STARMs and/or larger motors, servoswith a greater torque output can be used.

Each motor 304 and 302 STARM can be configured to rotate about an axis322 through some angle range. A mechanical linkage (see FIG. 11B) can beprovided from the servo output 320, which causes the motor about theaxis 322. The tilt axis 322 is located near a top of the motor 304 (Asdescribed above, the vehicle is shown in an upside down orientation inFIG. 11A). In other embodiments, the tilt axis 322 can be located closerto the bottom of the motor 304 and the rotatable STARM 302.

In various embodiments, the mechanical linkage can be configured toconvert an output angle of rotation from the servomotors to an inputangle of rotation about axis 322 according to some ratio. For example,when the ratio is one to one, an output angle of rotation from the servoof one degree in a particular direction can cause an input angle ofrotation of the motor 304 and STARM 302 of one degree in the particulardirection. In another example, when the ratio is five to one, an outputangle of rotation from the servo of five degrees in a particulardirection can cause an input angle rotation of the motor 304 and STARM302 of one degree in the particular direction. The ratio can be selectedbased upon a needed accuracy of the tilt control of the STARM and aneeded transit speed to move the STARM from a first position to a secondposition in a control scheme. Thus, ratios between one to one and fiveto one or greater than five to one can be utilized and the example aboveis provided for the purposes of illustration only.

In FIG. 11B, a top view 330 of the device 300 shown in FIG. 11A isillustrated. In FIG. 11B, the axis of rotation of servo 308 a and thetilt axis of rotation for STARM 302 are aligned approximately parallelto another. This configuration allows for a relatively straightmechanical linkage 332 between the servo 308 a and STARM/motorcombination. In other embodiments, the axis of rotation of servo 308 aand the tilt axis of rotation for STARM 302 may be angled relative toone another. In this instance, a more complex, multi-part mechanicallinkage can be provided, such as a two part mechanical linkage hingedtogether in some manner. For example, a two part mechanical linkage canbe coupled to one another using a flexible material.

In FIG. 11B, when fully assembled, four servos can be coupled to fourmotors. As shown for servo 308 a and STARM 302, the rotation axisthrough which the torque is output from the servo 308 a, is approximateparallel to the tilt axis of the STARM 302 and motor. In variousembodiments, the rotation axis through which the torque is output from aservo and the tilt axis of a STARM and motor to which it is coupleddon't have to parallel to one another.

When assembled, the rotation axis through which the torque is outputfrom each of the servos, 308 b and 308 c, which are adjacent to servo308 a, are rotated approximately ninety degrees relative to the rotationaxis through which torque is output from servo 308 a. In furtherembodiments, less than four or more than four motor, STARM and servocombinations can be used. Thus, the angle between the axis through whichtorque is output from a servo and the axes from which torque is outputfrom the adjacent servos can be greater than ninety degrees or less thanninety degrees. For example, a vehicle can include three STARM, servoand motor combinations and can have servos with axes through which thetorque is output that are approximately one hundred twenty degreesorientated relative to one another. In yet other embodiments, a firstportion of the STARM and motor combinations can be provided without aservo while a second portion of the STARM and motor combinations can beprovided with a servo. When the STARM and motor is non-tiltable, theorientation of the STARM and motor can be fixed at an angle of zero orgreater relative to the interior plate 316.

FIG. 11C shows a bottom view 340 of the device 300 of FIG. 11 C. In oneembodiment, a bottom portion 342 of the housing can include fourapertures, where a bottom of the each STARM, such as 344 a, 344 b, 344 cand 344 d is approximately parallel to an outer surface of bottomportion 342 or extends beyond the outer surface of bottom portion 342.The apertures are sized to provide some gap, such as 345, between a sideof the STARM 344 a and an inner surface of the aperture. In anotherembodiment, the 342 bottom of surface can be formed without aperturesand the STARMs can be enclosed within an interior of the vehicle 300. Inthis embodiment, a non-conductive material and non-ferromagneticmaterial may be used beneath the STARMs.

In FIG. 11C, two magnet configurations are shown. STARMs 344 a and 344 buse a first magnet configuration and STARMs 344 c and 344 d include asecond magnet configuration. The magnet polarity arrangement for STARMs344 a and 344 b can be similar to pattern 1292 in FIG. 28. The magnetpolarity arrangement for STARMs 344 c and 344 d can be similar to thepattern shown in FIG. 2. In various embodiments, all the STARMs may usethe same magnet polarity pattern and magnet configuration (geometricarrangement of each magnet relative to one another) and may use the samevolume of magnets. In other embodiments, the magnet polarityarrangement, the magnet configuration and the volume of magnets can varyfrom STARM to STARM on a vehicle.

In one embodiment, four STARMs, such as 344 c, can be used. The STARMscan be approximately three inches in diameter. In one embodiment, theportion of the STARM, which holds the magnets, can be formed from aninjection molded plastic. The eight magnets on each STARM can be N52strength, 12 mm cubes. The motors can be Himax (Max Products, LLC, LakeZuric, Ill.) brushless out runner motors (HC6320-250). The motor weighs450 g. The max power and max RPM are 1700 Watts and 10,000 RPM,respectively. The diameter of the motor is 63 mm, the Length of themotor 51 mm and the shaft diameter is 8 mm. The K_(V) for the motor is250 RPM/Volt. Other motors with varying power outputs and dimensions andother STARMs with different diameters, magnet volumes, magnetconfigurations and magnet strengths can be used and these examples areprovided for illustrative purposes only.

A Third Hover Vehicle Example

Next, an alternate design of a vehicle capable of carrying a person isdescribed with respect to FIGS. 12A-14. FIGS. 12A, 12B and 13 areperspective, front and top views of the vehicle. FIGS. 12C and 12Dillustrate a hinge mechanism which couples the hover engines to a riderplatform. FIG. 14 illustrates the relationship between applying a forceon a particular location on the rider platform during vehicle flight anda direction of movement of the vehicle in response.

FIG. 12A is a perspective view of vehicle 350. The vehicle 350 includesfour hover engines, such as 365 a, 365 b, 365 c and 365 d, fourelectronic speed controllers, each coupled to a motor and STARM (notshown), such as 356 a, 356 c, 356 d and 356 d, a rider platform 352 anda battery compartment 354 mounted beneath the rider platform. Hoverengines pairs, (365 a and 365 d) and (365 b and 365 c), are each coupledto rider platform 352 via a hinge mechanism, such as 364 a and 364 b,respectively.

The hinge mechanisms, 364 a and 364 b, are configured to rotate relativeto rider platform 352. The rotation of a hinge mechanism causes the pairof hover engines coupled to the hinge mechanism to rotate relative tothe rider platform in various directions. In one embodiment, a rotationthrough the hinge mechanism cause one of the hover engines in a hoverengine pair to move closer to the rider platform and a second hoverengine in the pair to move away from the rider platform.

Hinge mechanisms 364 a and 364 b can be rotated individually or incombination with one another, which, during flight, can alter adirection of travel of the vehicle 350. The rotation of each hingemechanism, 364 a and 364 b, including a direction of rotation, can beinitiated, in response to a rider applying forces at different locationson the rider platform 352, which are transferred through the hingemechanism or hinge mechanisms to induce a rotations. A directionalcontrol scheme using these rotations is described in more detail withrespect to FIG. 14.

In one embodiment, the rider platform can be a skateboard deck or canhave the form factor of a skateboard deck. For example, a rider may beable to remove the deck from an actual skateboard and couple it tovehicle 350 as a rider platform. Vehicle 350 can include a mountingplate, such as a metal plate, which allows a skateboard deck to beattached to the vehicle.

Skateboard decks are typically curved on each end. The curvatureprovides leverage, when a force is applied, for a rider to raise one endof the deck relative to the other end, if desired. Skateboard decks aretypically seven to ten and one half inches wide and twenty eight tothirty three inches long. The weight of a skateboard deck formed fromwood is about 1.8 to 2.3 Kg. However, rider platforms can be formed fromother materials to decrease or increase this weight if necessary.

A battery box 354 is suspended beneath the rider platform 352. In oneembodiment, the battery box is about twelve inches wide by seventeeninches long. The battery box can include two stacks of relatively flatbattery packs where each stack includes some number of the flat batterypacks. In one embodiment, nine flat battery packs are included in eachstack where eight of the batteries are connected in series and one packis connected in parallel. The number of battery packs connected inseries can be selected to meet a certain desired output voltage range,such as a voltage range compatible with an electronic speed controllerwhich is couple to a motor. In alternate embodiments, more or lessbattery packs can be used in each stack.

In a particular embodiment, each flat battery pack is a lithium ionrechargeable pouch cell, IMP06160230P25A, from Farisis Energy, Inc.(Hayward, Calif.) where the pouch cell includes anickel-manganese-cobalt cathode. Each pouch cell can have nominalcapacity of 25 Ah, a nominal voltage of 3.65 V and a cycle life of atleast 1000 cycles. Each battery pouch is approximately 161 mm wide by 6mm thick. The height of each pouch can be about 230-240 mm. The weightof each cell is approximately 485 g.

The motor and STARMs of a hover engine, such as 365 a, can be enclosedwithin a housing. In this embodiment, the housing includes a top portion358 which is secured to a lower portion 360. In one embodiment, thediameter of the top portion is about 8 inches and the height can beabout 2.5 to 3 inches.

One example of a motor which can be used within the housing is a hacker150-25-12-43 (Hacker Motor, GmbH, Ergolding, Germany). The motordimensions are 150 mm by 25 mm and includes 12 windings. The motor speedconstant is 43 K_(V) per min.⁻¹ The nominal voltage is 50 V. The weightof the motor is approximately 2 kg. An example location 366 of a motorand STARM within the hover engines is shown in FIG. 12B.

Some example magnet configurations and polarity alignment patterns,which can be used with a STARM coupled to the motor, are described withrespect to FIGS. 17A, 17B and 24-31. As shown in the Figures, themagnets can be arranged in various configurations with various polarityalignments. For N50 strength neodymium magnets, the magnet volume oneach STARM can be between 10 to 30 cubic inches. For example, the STARMdesign in FIG. 17A can include about 17 cubic inches of N50 magnets. Asanother example, the STARM design n FIG. 17B can include about 18 cubicinches of N50 magnets. In yet other example, the design in FIG. 24 canutilize about twenty cubic inches of N50 magnets.

An electronic speed controller, such as 356 a, 356 b, 356 c and 356 d,is mounted above each motor. Wire bundles, such as 362, couple the speedcontrollers to the batteries within battery box 354. Thus, power canflow from the batteries to electronic speed controllers and into themotor. In one embodiment, the electronic speed controllers (ESC) can beBAC 2000-48-70 by Accelerated Systems, Inc. (Waterloo Ontario, Canada).The ESC can be configured to receive a nominal input voltage between 24and 48 Volts. The input power is software configurable. The peak motorcurrent can be up to one hundred amps with a continuous rating of twentyfive amps.

In one embodiment, the vehicle can include a wireless receiver whichallows the vehicle to communicate with a remote device. For example, viathe receiver, a command can be sent to the vehicle to shut down theengines, i.e., to provide a remote kill switch for the vehicle. Theshutdown command can be implemented via the electronic speed controllerscoupled to each engine. In another embodiment, a user may be able tohold a kill switch in their hand while riding the device, whichcommunicates wirelessly, with the vehicle. The kill switch whenactivated by the user causes the engines to shutdown. For example, auser may wish to shutdown the vehicle if they fall off the vehicle. Asdescribed above, an individual not riding the vehicle could alsoinitiate this shutdown.

FIG. 12B shows a front view of vehicle 350. The hinge mechanism 364 ismechanically coupled to the rider platform 352 and structures 378 a and378 b, which support hover engines, 365 c and 365 b. The hinge mechanism364 is attached to the hover engines such that the hover engines 365 band 365 c rotate as a unit. A similar configuration can be used on theother end of the vehicle 350.

In one embodiment, the structures 378 a and 378 b are integrally formedwith the top cover of the hover engine. For example, components 358 and378 b are integrally formed. The integral structure provides anattachment point to the hinge mechanism 364, an attachment point forhover engine 365 b, an attachment point for the electronic speedcontroller, i.e., 356 b, and also forms a portion of the housing of thehover engines.

The hover engines, 365 b and 365 c, are each tilted outward through atilt angle 368. The outward tilt can help the vehicle operate better ona curved surface, such as within a half-pipe. However, in an alternateembodiment, the hover engines can be tilted inwards.

In one embodiment, the tilt angle 368 can be up to 15 degrees. In theexample, in FIG. 12B, the tilt angle is about 5 degrees. In a particularembodiment, a mechanism can be provided which allows the tilt angle tobe manually adjusted prior to operation. For example, inserts, such as376, which are wedge-shaped, can be formed with different angles. Theinserts can be installed to set each hover engine at a particular tiltangle. As an example, a first set of wedges with an angle of fivedegrees can be replaced with a second set of wedges with an angle ofseven degrees to adjust the tilt angle from five degrees to sevendegrees for hover engines 365 b and 365 c. The tilt angles of the frontand back pair of hover engines can be the same. However, in someembodiments, the tilt angles of the pairs can be different.

When the bottom of surface of the rider platform 352 is approximateparallel to a conductive substrate, the outward tilt can cause the hoverengine to generate both lifting forces and translational forces. As willbe described in more detail below, the translational forces can be usedto translate the vehicle from a first location above the conductivesubstrate to a second location above the substrate. Further, thetranslational forces can be used to turn the vehicle.

The tilt angle can affect a magnitude of the translational forces whichare generated from the hover engines (e.g., see FIGS. 39, 40 and 41).Typically, the translational forces, which are output from the hoverengines, increase with the tilt angle. Thus, the tilt angle can affectthe magnitude of the translational forces and hence, how fast a vehicleaccelerates and turns.

Different riders may prefer different handling characteristics. Forexample, a beginner may prefer a hover board which accelerates moreslowly. Thus, a lower tilt angle can be employed. Whereas, an advancedrider may prefer a hover board, which accelerates faster and hence ahigher tilt angle can be used.

Returning to FIG. 12B, the hinge mechanism 364 between the riderplatform 352 and the hover engine platform 376 can operate in a mannersimilar to a skateboard truck. In a skateboard truck, a force applied onone side of the rider platform, when the wheels are touching the ground,causes a rotation in a first direction and a force applied in a seconddirection causes a rotation in a second direction opposite the firstdirection. Unlike a skateboard, the hinge mechanism 364 operates whilethe hover engines are in flight and not touching the ground. For thehinge mechanism 364, the directions of rotations are indicated by thearrows 375.

The hinge mechanism 364 can be configured such that when a force thatcaused the rotation is reduced or removed, the hinge mechanism rotatesin the opposite direction. The rider may be able to adjust to theapplied force and/or the location where the force is applied to controlan amount of rotation in a particular direction. When the force appliedis below a threshold value, the hinge mechanism can be configured toreturn to a neutral position, i.e., no rotation.

The hinge mechanism 364 can be adjustable to change amount of forceneeded to cause a certain amount of rotation. For example, the hingemechanism can be adjusted so that a greater force is needed to cause arotation. Different riders with different weights may prefer a differentstiffness levels. Light the tilt angle, the stiffness level can affect acontrollability of a vehicle making it easier or harder to turn.

FIGS. 12C and 12D provide additional details of two components, 364 aand 364 b, associated with the hinge mechanism 364. The bottom of part364 b includes apertures, such as 374, which allow the part to besecured to support structures, such as 378 a and 378 b. As an example,fasteners, such as bolts, can be threaded through the apertures andsecured with a nut.

The component 364 a can be rotated 180 degrees and fit over the top ofcomponent 364 b. The post 366 can go through aperture 370 in component364 a. Then, a pin can be inserted through aperture 368 and 372. In askateboard truck, this pin is referred to as a king pin. Via apertures,such as 378, component 364 a can be mounted directly to the riderplatform 352 or can be secured to a receiving plate. The receiving platecan be configured to receive a rider platform 352, such as but notlimited to a skateboard truck. In one embodiment, the receiving platecan allow different skateboard decks to be easily removed and secured tothe vehicle.

FIG. 13 shows a top view of vehicle 350. A rotational direction, such as380 a, 380 b, 380 c and 380 d, of each hover engine is shown. Asdescribed with respect to FIG. 12B, the hover engines are canted togenerate a tilt angle. The canted hover engines can generate atranslation forces when the vehicle is operated over horizontalsubstrate. The direction of the translational force output from eachhover engine is shown via arrows, 382 a, 382 b, 382 c and 382 d. In oneembodiment, the engines can be operated (e.g., an RPM rate of the motorscan be selected), such that the translational forces output from eachhover engine cancel one another. When the forces balance, anon-translating hover board can remain stationary over a conductivesubstrate. As will be described in more detail below, with respect toFIG. 14, force imbalances can be intentionally created which cause thevehicle to move in various directions.

In FIG. 13, forces 382 a and 382 c are parallel to one another andforces 382 b and 382 d are parallel to one another. In alternateembodiments, the forces 382 a and 382 b and the forces 382 b and 382 dcan be angled relative to one another and still output forces whichcancel one another. An example of a vehicle where translational forcesoutput from a hover engines are angled relative to another is describedwith respect to FIG. 18.

FIG. 14 illustrates one example of a directional control scheme for thevehicle shown in FIGS. 12A to 13. In 390 a, a force can be applied at392 a. For example, a rider can shift their weight over this stop suchthat it causes the opposite end of the rider platform to rise relativeto the end where the force is being applied. In this position, theforces from the opposite sides of the rider platform are no longerbalanced and the board can move in direction 394. The force is appliednear the pivot point of the hinge mechanism. Hence, the vehicle hingemechanism doesn't rotate. In 390 b, a force can be applied at location392 b on the opposite side of the rider platform and the vehicle canmove in direction 394 b.

In 390 c, a force can be near the center on one side of the riderplatform at location 392 c. At this location, the force applied throughthe hinge mechanism can cause two pairs of hover engines to each rotateinwards an equal amount. When the forces output from each pair of hoverengines connected via a hinge mechanism are equal, the vehicletranslates in direction 394 c. In 390 d, a force is applied on the riderplatform at location 392 d. A force applied at this location causes thetwo pair of hover engines to rotate inwards in the opposite direction tocause movement in direction 394 d. On a skateboard touching the ground,these types of movements are not possible, i.e., a direct sidewaysmotion, because the friction of the wheels with the ground prevent askateboard from moving in this manner.

In 390 c and 390 d, when a force is positioned such that each pair ofhover engines are not rotated inwardly by an equal amount, such as viamoving position 392 c or 392 d to the left or right, then the vehiclemay move and rotate in directions 394 c or 394 d. The direction ofrotation depends on the whether the force is applied to the left orright of position 392 c or 392 d.

In 390 e, a force is applied on one side of the vehicle, near the frontend. In this position, only one of the hinge mechanisms is rotated. Inresponse to the rotation the vehicle moves in direction 394 e, i.e., aturn is executed. In 390 f, a force is placed on the opposite side ofthe board from location 392 e, at location 392 f In response, the pairof hover engines rotates in the other direction and the vehicle turns indirection 394 f In 390 g and 390 h, a force is applied at similarlocations to 390 e and 390 f but on the opposite end of the vehicle atlocations 392 g and 392 h. This placement causes the pair of hoverengines to rotate in opposite directions to provide movements 394 g and394 h.

In 390 e, 390 f, 390 g and 390 h, it may be possible to control a turnradius by controlling the amount of rotation through the hingemechanism. For example, more force can be applied on the rider platformat a particular location to increase the amount of rotation. Theincreased rotation can results in a tighter turn.

It may be possible, to place simultaneously, forces at locationsproximate to 392 e and 392 h. This position can cause both the front andback pair of hover engines to rotate counter-clockwise to induce acounter clockwise spin. Similarly, it may be possible, to placesimultaneously, forces at location 392 f and 392 g. This position cancause each pair of hover engines to rotate clockwise to induce aclockwise spin of the vehicle.

Hover Engine Examples

Next, with respect to FIGS. 15A-17B, two hover engine configurations, ahinge mechanism, which can be used with a hover engine, and two magnetconfigurations, which can be used with a hover engine, are described. Afirst example hover engine is described with respect to FIGS. 15A-15C. Asecond example hover engine and an associated hinge mechanism isdescribed with respect to FIGS. 16A-16C. Finally, two magnetconfigurations are described with described with respect to FIGS. 17Aand 17B.

FIG. 15A is a perspective view of a STARM 400. The STARM 400 is 10inches in diameter. In various embodiments, the STARMs used on a device,such as a hoverboard, can be between four and fourteen inches indiameter. However, for other devices, larger or smaller diameter STARMsmay be used.

Generally, the size of the STARM will depend on the volume of magnets tobe accommodated and the arrangement of magnets used. As will bedescribed in more detail below different magnet configurations allow forand require different packaging schemes. The total volume of magnetswhich are used will depend on a desired maximum payload weight to belifted and an operating height. Once, the total volume of magnets isdetermined, it can be distributed among one or more hover engines inselected configurations. Based upon the volume of magnets used in ahover engine and a selected magnet configuration, i.e., the distributionof the magnet volume on the STARM and polarity directions utilized,appropriate motors needed to rotate the STARM can be selected where amotor may turn one or more STARMs. As an example, the volume of magnetson a hoverboard, which can be distributed among one or more STARMS, canbe between thirty and eighty cubic inches.

In general, various ratios of motors to STARMs can be utilized in ahover engine. For example, a hover engine can include one motor whichturns one STARM. As another example, a hover engine can include onemotor which drives two or more STARMs. In another example, a hoverengine can include two motors which drive one STARM. In general, one ormore motors can be paired with one or more STARMs where the number ofmotors can be less than equal to or greater than the number of STARMs.Thus, the example of a hover engine including one motor and one STARM isprovide for the purposes of illustration only and is not meant to belimiting.

Returning to FIG. 15A, the STARM includes a raised outer ring 405. Adistance from a bottom of the STARM 400 to a top of the outer ring isabout 1.13 inches. This height allows one inch cubed magnets to beaccommodated. In one embodiment, twenty one inch cube magnets arearranged within the outer ring. To accommodate more cubic magnetsarranged in a circle, such as four more magnets to provide an additionalrepetition of the polarity pattern, a larger outer ring can be used.Using less cubic magnets, a smaller radius may be employed. Differentshaped magnets and different polarity patterns can allow for differentpackaging schemes. Thus, this example, where the magnets are arranged ina ring is provided for the purposes of illustration only and is notmeant to be limiting.

In one embodiment, the STARM 400 including the outer ring 405 can beformed from a number of layers, 402, 408, 410, 412, 404 and 414, fromtop to bottom, respectively. Layers 402 and 414 form a cover over thetop and bottom portions of the magnets in the outer ring. In oneembodiment, layers 402 and 408 are about 0.065 of an inch thick. Inalternate embodiment, one or both of layers 402 and 408 can beeliminated. In one embodiment, the top and bottom layers can be formedfrom a material such as aluminum. In another embodiment, the top layer402 can be formed from a material with magnetic properties, such asmu-metal, iron or nickel.

Layers 408, 410, 412, 404 each include twenty apertures to accommodatetwenty magnets. More or less magnets and hence more or less aperturescan be utilized and this example is provided for illustrative purposesonly. The total thickness of the layers is one inch and each layer is0.25 inch thick. In one embodiment, two layers are formed frompolycarbonate plastic and two layers are formed from aluminum. Thepolycarbonate plastic can reduce weight. In various embodiments, thethickness of each layer, the material used for each layer and the numberof layers can be varied. For example, different metals or types ofplastics can be used. As another example, a single material can be usedfor each of the layers.

When the layers are aligned, the one inch cube magnets can be insertedthrough the layers. For different shaped or different size magnets, suchas rectangular shaped magnets, trapezoidal shaped magnets or 1.5 cubicinch magnets, a different aperture shape or size can be used. In oneembodiment, an adhesive can be used to secure the magnets in place, suchas super glue. When secured, the bottoms of the magnets areapproximately flush with the bottom of layer 404. This feature canmaximize the height between the bottom of the magnets and the substratewhen a vehicle using the STARM design 400 is hovering.

One or more layers can include apertures, such as 416, that allowfasteners to be inserted. The fasteners can secure the layers together.In another embodiment, an adhesive can be used to secure one or more ofthe layers to one another. In alternate embodiment, the layers 404, 408,410 and 412 can be formed as a single piece.

FIG. 15B is a side view of STARM 420 with an embedded motor 422. Thecross sections of two magnets, 415, are shown within the outer ring 405.The top of the magnets is flush with the outer top of layer 408 and thebottom of the magnets is flush with the bottom of layer 404. In variousembodiments, the STARM 420 can be configured to receive magnets between0.5 and 2.5 inches of height.

In one embodiment, the top of the magnets may extend above the top ofthe 408. Thus, the outer ring 405 may only extend partially up the sidesof each magnet. This feature may allow the magnets to be secured inplace while reducing weight.

In alternate embodiments, using different magnet configurations, themagnets may be positioned beneath the motor. Further, the motor doesn'tnecessarily have to be direction above the STARM 420. For example, abelt, gearing or some other torque transmission mechanism may be used toplace the motor to the side of the STARM 420. Further, in someembodiments, a motor may drive multiple STARMs. In addition, the motorrotational axis and the axis of rotation of the STARM don't have to beparallel to one another. For example, the motor rotational access can beangled to the axis of rotation of the STARM, such as perpendicular tothe axis of rotation. Then, a belt and/or gearing system can be used totransfer and change the direction of the torque output from the motor.

The inner radius 424 of the outer ring 405 is greater than a radius ofthe motor 422. Thus, the motor can be inserted within the outer ring andsecured to layer 404 such that the STARM 420 can be rotated when themotor is operated. Thus, the outer ring extends along the side 430 ofthe motor. An advantage of mounting the motor in this manner is that theoverall height profile of the hover engine may be reduced as compared tomounting the motor 422 at a height above the top of the outer ring.

In various embodiments, the height 428 height of the outer ring may beless than the height of the motor 426, such that the outer ring extendspartially up the side 430 of the motor 422. In another embodiment, theheight 428 of the outer ring 405 and the height of the motor can beapproximately equal. In yet another embodiment, the height 428 of theouter ring can be greater than the height of the motor.

It may be desirable to increase the height 428 to accommodate tallermagnets. Taller magnets may be used to increase the amount of magneticlift which is generated when the magnets, such as 415 are at a greaterdistance from a substrate. The volume of a magnet including its heightcan affect the strength of the magnetic field at a particular distancewhich extends from a magnet.

In various embodiment, a trade-off can be made between the distributingthe magnets over a greater height range or over a greater area on thebottom of the STARM. For given volume of magnets, the foot print on thebottom of the STARM can be reduced by using taller magnets. Reducing thefoot print may allow a smaller radius STARM to be used. However, aheight of the hover engine may be increased.

Alternatively, the volume of magnets can be spread out over a largerarea to provide a larger foot print of magnets on the bottom of theSTARM. The larger foot print allows the maximum height of the magnets tobe reduced and possible the maximum height of the hover engine to bereduced. However, a larger foot print may require a STARM with a largerradius.

The motor, such as 422, used to rotate a STARM can be electric orcombustion based. In general, any type of motor which outputs a suitableamount of torque can be used. An electric motor requires a power source,such as battery or a fuel cell, to supply electricity. A combustionmotor requires a fuel which is combusted to operate the motor. Batterytypes include but are not limited to batteries with a lithium or zincanode, such as lithium ion, lithium polymer or a zinc-air system.

An electric motor can be configured to output torque about a rotationalaxis. The electric motor can include a configuration of wire windingsand a configuration of permanent magnets. Current is provided throughthe windings to generate a magnetic field which varies as a function oftime. The magnetic field from the windings interacts with magnetic fieldfrom the permanent magnets to generate a rotational torque. AC or DCmotors can be utilized, such as an induction motor or a DC brushlessmotor.

In various embodiments, the windings can be configured to rotate whilethe magnets remain stationary or the magnets can be configured to rotatewhile the windings remain stationary. An interface, such as a shaft, canbe provided which couples the rotating portion of the motor to the STARM400. In FIG. 26A, the STARM 400 is configured to interface with themotor at 406.

The non-rotating portion of the motor 422 can be integrated into a motorhousing which surrounds the magnets and the windings. The motor housingcan include an interface which enables it to be attached to one morestructures associated with a device. In another embodiment, non-rotatingportion of the motor can include an interface which allows it to bedirectly attached to one or more structures associated with themagnetically lifted device.

In a particular embodiment, the core of the motor 422 can be stationarywhere both the magnets associated with the motor and the magnetsassociated with the STARM rotate around the stationary core. Onenon-rotating support structure can extend from the core which allows themotor and STARM to be coupled to the device. A second non-rotatingsupport structure can extend from the core which provides support to aportion of a shroud which is interposed between a bottom of STARM andthe substrate which supports the induced eddy currents (e.g., see FIG.16A).

The arrangement of magnets in the motor 422 can include poles which aresubstantially perpendicular to the axis of rotation of the motor (oftenreferred to as a concentric electric motor) or can include poles whichare substantially parallel to the axis of rotation of the motor (oftenreferred to as an axial electric motor). In one embodiment, a windingconfiguration, such as the winding configuration associated with anaxial motor, can be used to induce eddy currents in a substrate. Inthese embodiments, there are no rotating parts and the STARM and themagnets associated with an electric motor are eliminated. As part of ahover engine, the windings can be tilted relative to a device togenerate control forces in a manner previously described above.

In yet another embodiment, the magnets associated with the motor 422 canbe removed and a motor winding can be designed which interacts directlywith the magnets in the STARM. For example, a winding can be placedabove magnets 415 to interact with the magnetic flux above the magnetsor a winding can be placed around the outside of magnets 415 or aroundthe inside of magnets 415. A current applied to the winding to cause theSTARM to rotate. As described above, rotation of the STARM can causeeddy currents to be induced in a portion of a substrate.

As an example, the motor 422 can include an outer ring configured torotate. The STARM 400 can mounted be to the outer ring of the motor 422instead of to a shaft extending from the center of the motor. This typeof motor design can be referred to as an outboard design. This featuremay allow the portion of layers 404 and 412 within the inner radius 424of the outer ring 405 to be removed such that the bottom of the motor iscloser to the bottom of the outer ring 405. One advantage of thisapproach is that the overall height of the STARM 420 and motor 422 maybe reduced.

In a particular embodiment, the outer ring 430 of the motor and theouter ring 405 of the STARM may be formed as an integrated unit. Forexample, the outer ring of the motor 422 can have a layer extendingoutwards from the side 430. The layer extending from the side 430 caninclude a number of apertures through which magnets can be inserted.Optionally, one or more layers with apertures, such as 408, 410 and 412,can be placed over the magnets.

In general, in a hover engine, the support structures associated withthe STARM, the stator of the motor, the shroud and housing can beintegrated with one another. For example, an enclosure for the motor andSTARM can include an integrated shroud. In another example, thestructure forming the rotor for the motor can be integrated with thestructure for the STARM. In another example, all or a portion of thestructure forming the stator of the motor can be integrated with ahousing and/or shroud associated with the hover engine.

FIG. 15C is a side view of a hover engine 450 having a STARM 465integrated with a motor in accordance. The hover engine 450 includes astationary core 456 with windings configured to interact with magnets460 to rotate the magnets. The core is attached to the support structure464. The support structure 464 can provide a first interface to attachthe hover engine to a hover board. In addition, the support structure464 can be coupled to a housing 452 which surrounds both motor and theSTARM 465. The support structure 464 may be used to help maintain a gapbetween the bottom of the STARM 465 and the housing 452.

In one embodiment, a small protuberance 466 may be provided at the endof support structure 464. The small protuberance 466 can be formed froma metal or a material with a low friction coating, such as a Tefloncoated material. The small protuberance can provide a small stand-offdistance when the hover engine is near the ground, such as duringtake-off and landing. It can help prevent the STARM 465 from impingingthe ground. In particular embodiments, the protuberance 466 can becoupled to a portion of the hover engine which rotates or a portionwhich remains static during operation.

The STARM 465 includes a structure 458 surrounds the magnets 454. Asdescribed above, the structure 462 surrounding magnets 460 and thestructure 458 surrounding magnets 454 can be formed as a single piece.The magnets 454 and 460 may be shaped differently and have differentsizes relative to one another.

In various embodiments, bearings (not shown) can be provided between thesupport structure 464 and the structure 458 to allow the STARM 465 torotate about the stationary core. In lieu of or in addition to bearingsbetween the STARM structure 458 and the support structure 464, bearingscan be provided at one or more locations between the housing 452 and thestructure 458. For example, bearings may be placed between the bottom ofthe STARM 465 and the housing 452 to help maintain the spacing betweenthe housing 452 and the STARM 465 on the bottom of the STARM. In anotherexample, a bearing may be placed between the side of the STARM and theside of the housing 452 to maintain the spacing between the inner sideof the housing 452 and the side of the STARM.

In one embodiment, the height of the hover engine can be less than threeinches. In another embodiment, the height of the hover engine can beless than two inches. In yet another embodiment, the height of the hoverengine can be less than one inch. The magnets are packaged between a topand a bottom height of the hover engine. Thus, in each of theseexamples, the maximum height of the magnets will be at most the same asthe height of the hover engine. Typically, the maximum height of themagnets will be less than the height of the hover engine.

FIG. 16A is a perspective cross section of a hover engine 500. The hoverengine 500 includes component which remain stationary during operationand components which rotate during operation. In this example,components 502, 504 and 506, which form an outer housing for the hoverengine, component 528 and component 520 remain stationary duringoperation.

Component 528 extends from the top cover 502. It provides support formotor windings 514 and a bearing 524 which supports a rotating shaft518. The motor windings 514 are opposite magnets 512, which extendcircumferentially around the device 500. When current is supplied to thewindings 514, the windings interact with the magnets 512 to induce arotational torque. The rotational torque can cause component 508 torotate. Rotatable component 508 includes the rotatable shaft portion 518which extends through the core of the hover engine.

The motor includes the stator portion with windings 515 and a rotorcomponent 508 with a first set of magnets 512. In one embodiment, themotor can be an UTO out-runner motor kit by Applimotion, Inc. (Loomis,Calif.). For various motor configurations, the stator outer diameter canvary from 0.6 to 6.7 inches. The stator includes windings 514. Thestator length can vary from 0.7 to 2.3 inches. The rotor inner diametercan vary from 0.6 to 6.9 inches. The rotor includes a first set ofmagnets 514 formed into a ring. Torque output from the motors can varyfrom 1.1 to 744.2 oz-inches. The current associated with the motor canbe between 1.3 and 20.7 amps.

In the embodiment, the motor is a UTO-200, which has a stator outerdiameter of 6.7 inches and the rotor inner diameter is approximately 7inches. For this motor, the stator length can be varied between 1, 1.2and 1.4 inches to provide a torque output of 650.5, 573.8 and 744.2oz-inches. The motors utilize 30, 30 and 40 magnet poles respectively.The radial dimensions of 500 allow one of these motor configurations tobe accommodated. The height the hover engine 500 can be adjusted toaccommodate motors with different stator lengths.

In one embodiment, the rotor 508 can include grooves around an outerdiameter. The grooves can be used to support the two rings 536. In oneembodiment, the two rings 536 can be used to provide vibrationaldamping. In alternate embodiments, rings 536 may not be utilized.

A carrier component 510, which holds a second set of magnets 516, issecured beneath component 508 and hence rotates as component 508rotates. The second set of magnets can cause lift and propulsive forcesto be generated when the second set of magnets rotates above aconductive substrate as described above with respect to FIGS. 1 to 4C.In this example, a first portion of the second set of magnets is beneaththe stator component of the motor. A second portion of the second set ofmagnets is beneath the motor magnets 512.

In particular, the motor magnets 512 are positioned between an innerradius of the second set of magnets 516 and an outer radius of thesecond set of magnets 516. For some magnet configurations, it may beadvantageous to have a larger bottom surface area of the magnets, whichface the conductive substrate, and a lower magnet height as compared toa smaller bottom surface area of the magnets and a greater magnetheight. This configuration which extends both the stator and rotorcomponents of the motion can allow the bottom surface area of the secondset of magnets 516 to be increased.

Cross sections of four magnets are shown on each side of the crosssection. In one embodiment, these four magnets can represent a crosssection of the magnet pattern shown in FIG. 17A which includes fourradially disposed rows of magnets. In one embodiment, each of themagnets is a cube with a 12 mm side length. However, other magnetconfigurations and magnets sizes are possible and the example of fourrows of 12 mm³ magnets is provided for illustrative purposes only.

In one embodiment, the outer housing can be formed from threecomponents, 502, 504 and 506. Component 502 is secured to component 504via fasteners inserted through apertures such as 530 a and 530 b. Whensecured together, components 502 and 504 form an upper and side portionof the housing for motor 500. Component 502 can include apertures, suchas 538, to provide air flow within the hover engine for coolingpurposes. Other aperture locations are possible, such as on components502, 504 or 506, and these aperture locations are provided forillustrative purposes only.

The component 502 includes a ring portion 526 with apertures forfasteners, which extends into the interior of hover engine. Component528, which supports the bearing 524 and stator portion of the motor, isthe portion of component 526, which extends into the interior of thehover engine. The apertures can be used to attach the hover engine 500to a vehicle support structure in a fixed orientation or to a hingemechanism which allows the hover engine to be tilted. An example of ahinge mechanism, which can be coupled to the hover engine 500, via ringstructure 526, is described below with respect to FIGS. 16B and 16C.

The lower portion of the housing 506 includes a first portion 506 a,which extends beneath the second set of magnets 516, and a secondportion 506 b. The portion 506 b is at a different height than portion506 a, as it extends into an inner core of the hover engine. Theinterior of carrier 510, which holds the second set of magnets 516, ishollow, and as described above, suspended from component 508. The hollowportion provides room for portion 506 b to extend upwards.

At the axis of rotation of the motor, which is through shaft 518, astationary structure with two pieces, 520 a and 520 b, is located oneither side of the housing portion 506 b. The two pieces are securedtogether via fastener through apertures 534. In one embodiment, piece520 b can be integrally formed with a lower portion of the housing 506.A bearing 522 is placed above component 520 b. The shaft portion 518rests on bearing 522 and the bearing 522 rests on component 520 b, whichis stationary. The bearing allows shaft to rotate relative to thestationary portion 522 b.

When not in flight, the hover engine can rest on component 520 a and theweight of a vehicle and payload can be supported on this component. Inone embodiment, the payload can be a person. The weight of the vehicleand payload can be transferred through portion 520 a, 520 b, bearing 522and shaft 518. The shaft exerts force on bearing 524 which is securedwithin the extended portion 528 of the top cover 502. Thus, the force istransferred from the bearing t to the cover 502.

An advantage of this approach is the bottom portion of housing 506 a canbe made thinner, which reduces the minimum distance between the bottomof magnets 516, and the conductive substrate. Structure 506 a can bemade thinner because it doesn't have to support the weight of thevehicle and payload when it is resting or a greater weight if thevehicle strikes the ground. If components 520 and 520 b were not presentand structure 506 a extended across a bottom of the hover engine 500,structure 506 a would have to be made much thicker to support a weightof the vehicle and the payload, such that it doesn't bend and impingeinto the rotating components. By extending the structure 520 a into theinterior portion between the magnets 516, the structure 520 a may extendonly slightly below the bottom of the housing 506 a, which again helpsto maintain the minimum distance between the bottom of magnets 516 andthe conductive substrate.

FIG. 16B is an outside perspective view 550 of the hover engine 500shown in FIG. 16A. FIG. 16C is a side view of the hinge mechanism shownin FIG. 16B. In this embodiment, a hinge mechanism 560 is coupled to thetop cover 502 of the hover engine housing. As described above, the hoverengine can be coupled to a support structure in a fixed orientation suchthat the hover engine is non-tiltable.

The hinge mechanism 560 includes a top portion 562 and a bottom portion564. An aperture 572 in top portion 562 provides a path for wires whichprovide current to the motor to extend into the hover engine. When abattery is used, the current can pass through an electronic speedcontroller and then into the motor. Four links, such as 566 a and 566 b,couple the top portion 562 and the bottom portion 564. Each link rotatesaround two axes. In one embodiment, bearings, such as 568 and 570, canallow each link to rotate about each of its two axes. Using multiplerotation axes in the hinge mechanism allows the weight of the hoverengine to be distributed. This approach can generate less wear andstress on the hinge mechanism 560 as compared to when a singlerotational axis is used in the hinge mechanism. Although not shown, aforce can be applied to the hover engine from an actuator or from a userto cause a tilt of the device.

FIGS. 17A and 17B are top views of two magnet configurations andassociated polarity alignment patterns where the magnets are arrangedcircularly. In FIG. 17, the magnet polarity pattern 588 is used for themagnet configuration 580. The magnet polarity pattern is repeated fivetimes. In other embodiments, this pattern can be repeated less than ormore than five times.

The magnet configuration 580 can be configured to rotate about arotational axis 585, which extends perpendicularly from the page. Thecircles in the polarity pattern 588 refer to magnets whose north andsouth poles are generally parallel to the axis of rotation 585. Thearrows refer to magnets where the north and south poles are aligned withthe direction of the arrows where the arrow points in the northdirection. The direction of these arrows, and hence the north and southpoles of these magnets, is generally perpendicular to the axis ofrotation 585.

The magnet configuration 500 includes two shapes, 581 and 583, which arealternately repeated. Shape 581 is formed from nine cubic magnets andshape 583 is formed from seven cubic magnets. In alternate embodiments,single magnets with these shapes and polarities can be formed or someother combination of magnets can be used to form the shapes. Forexample, shape 581 can be formed from a first six by two magnet and asecond one by three magnet.

In this example, shape 581 is always associated with polarities whichare generally perpendicular to the axis of rotation. Shape 583 is alwaysis associated with polarities which are generally parallel to the axisof rotation 585. Because the volumes of shapes 581 and 583 aredifferent, the volume of magnets assigned to each type polarity isdifferent (e.g., parallel or perpendicular to the axis of rotation). Incontrast, in FIGS. 2 and 24, the volume of magnets assigned to each typeof polarity is the same. It was found, via simulation, that making thevolume of magnets associated with each type of polarity (e.g., parallelto the axis of rotation versus perpendicular to the axis of rotation)can increase the lift performance when the magnet configuration is usedin a hover engine as compared to designs where the volume of each typeof polarity is the same.

In one embodiment, cubic magnets with a twelve mm side can be used.Thus, dimension 586 is twelve mm. Dimension 582 is 223.53 mm anddimension 584 is 127.53 mm. If different sized magnets are used, thenthese dimensions will change to accommodate shapes 581 and 583 packedtogether in this manner.

In FIG. 17B, magnet configuration 590 is shown. The magnets in theconfiguration are secured to the rotatable component. The magnetpolarity pattern is the same as in FIG. 17A. However, shape 594, whichis a cube, and shape 596, which is a cylinder is used. In oneembodiment, the side length of the cube is one inch and the diameter ofthe circle is one inch, i.e., the diameter and side lengths are equal.Thus, the volume of the cubes is greater than the cylinders. Otherdesigns where side length and diameter are equal but the side length isgreater than one inch or less than one inch can be used. One advantageof using the cylinders is it allows additional room for fasteners whenthe magnets are packed together in this configuration.

When twelve millimeter cubes are used in FIG. 17A, the total volume ofthe magnets is about seventeen cubic inches. When a one inch side lengthof the cube and a diameter of the cylinder are used, the volume of themagnets is about eighteen cubic inches. It was found that the liftingperformance of these two configurations is similar to the liftingperformance determined for the magnet configuration shown in FIG. 24,which uses twenty cubic inches of magnets formed from one inch cubes andutilizes a similar magnetic polarity pattern.

Vehicle Configurations and Navigation, Guidance and Control (NGC)

Next, various configurations of magnetically lifted devices includingmultiple hover engines are described with respect to FIGS. 18-23. Inparticular, arrangements of hover engines and then their actuation toprovide movement are described. In addition, Navigation, Guidance andControl (NGC) functions, which can be applied to magnetically lifteddevices, are discussed.

FIG. 18 shows a top view of a vehicle 700 configured to operate over aconductive substrate 722. The vehicle 700 includes four hover engines,702 a, 702 b, 702 c and 702 d. Each hover engine includes a STARM and amotor and a mechanism which enables a propulsive force to be output fromeach hover engine. In one embodiment, each of the hover engines 702 a,702 b, 702 c and 702 b can be tilted around an axis, such as 724 a, 724b, 724 c, 724 d, via control of an actuator. In particular embodiments,the hover engines can each be individually actuated so that thedirection and amount of the tilt angle as a function of time can beindividually changed for each of the four engines.

In alternate embodiments, two or more hover engines can be controlled asa unit. For example, two or more hover engines can be mechanicallycoupled to a single actuator. The single actuator can move both hoverengines simultaneously. In another example, the two or more hoverengines can be digitally coupled such that the two or more hover enginesare always moved together simultaneously, i.e., a movement of one hoverengine specifies some specific movement of another hover engine, such asboth being tilted in the same manner. When independently controlled, themovement of one hover engine can affect the movements of other engines,such as to implement GNC functions. However, a second hover engine maynot be always constrained to a specific control movement in response tothe movement a first hover engine as in the case when two hover enginesare controlled digitally and/or mechanically controlled as unit.

The actuators associated with each hover engine can be coupled to one ormore controllers 706 and an IMU 708 (Inertial Measurement Unit). Theactuators can each also have a separate controller which responds tocommands from the controller 706. The controller 706 can also be coupledto a power source 720 and one or more speed controllers 718. The one ormore speed controllers 718 can be mechanical speed controller orelectronic speed controllers. The power source can be on-board oroff-board. The hover engines are secured via a housing and associatedsupport structure 710.

The center of mass of the vehicle is indicated by the circle 705. Thecenter of mass affects the moments generated when each of the four hoverengines are actuated. In particular embodiments, the vehicle can includea mechanism which allows the center of mass to be adjusted in flight,such as a mechanism for moving a mass from one location to another. Forexample, in an airplane, fuel can be moved from one tank to another toaffect the center of mass characteristics.

An IMU 708 works by detecting the current rate of acceleration using oneor more accelerometers, and detects changes in rotational attributeslike pitch, roll and yaw using one or more gyroscopes. It may alsoinclude a magnetometer, to assist calibrate against orientation drift.Inertial navigation systems can contain IMUs which have angular andlinear accelerometers (for changes in position). Some IMUs can include agyroscopic element (for maintaining an absolute angular reference).

Angular accelerometers can measure how the vehicle is rotating in space.Generally, there is at least one sensor for each of the three axes:pitch (nose up and down), yaw (nose left and right) and roll (clockwiseor counter-clockwise from the cockpit). Linear accelerometers canmeasure non-gravitational accelerations of the vehicle. Since the canmove in three axes (up & down, left & right, forward & back), there canbe a linear accelerometer for each axis.

A processor can continually calculate the vehicle's current position.First, for each of the six degrees of freedom (x, y, z and θx, θy andθz), the sensed acceleration can be integrated over time, together withan estimate of gravity, to calculate the current velocity. Then, thevelocity can be integrated to calculate the current position. Thesequantities can be utilized in the GNC system.

Returning to FIG. 18, as described above, the forces generated fromchanging a tilt of a rotating STARM relative to the substrate 722 aredirected primarily along the tilt axes when the vehicle is parallel tothe substrate 722. For example, a tilt of hover engine 702 a cangenerate a force which is primarily parallel to axis 724 a.

With the tilt axes arranged at an angle to one another as shown in FIG.18, a combination of STARMs can be actuated to generate a net linearforce in any desired direction. Further, the STARMs can be actuated incombination to cancel moments or if desired induce a desired rotation ina particular direction. In addition, different combinations of STARMscan be actuated as a function of time to generate a curved path in adesired direction(s) as a function of time. Yet further, a combinationof STARMs can be actuated so that the vehicle moves along linear orcurved path and rotates around an axis while moving along the path.

The tilt control can be used alone or in combination with rotationalvelocity control of each hover engine. The translational and liftingforces which are generated can vary as a function of the rotationalvelocity and a hover height. A rotational speed of a hover engine can bevaried relative to other hover engines or in combination with otherhover engines to change the magnitude of lifting and drag forces whichare output from the one or more hover engines. For example, therotational velocity control may be used to counter imbalances in forces,such as resulting from a shifting center of mass. For an electric motor,the one or more controllers 706 can control the speed controllers 718 tochange the rotational velocity of a hover engine.

In the example of FIG. 18, angles can be defined relative to the tiltaxes. For example, the angle between tilt axis 724 a and 724 b isapproximately ninety degrees. The angle between tilt axis 724 a and 724c is approximately ninety degrees and the angle between tilt axis 724 aand tilt axis 724 c is 180 degrees.

In one embodiment, the tilt axes of the hover engines opposite oneanother can be parallel to one another, i.e., an angle of one hundredeighty degrees. However, the angle between the tilt axes of the hoverengines adjacent to one another don't have to be equal. In particular,the angle between tilt axes 724 a and 724 b can be a first angle and theangle between tilt axes 724 a and 724 c can be one hundred eightydegrees minus the first angle where the first angle is between zero andone hundred eighty degrees. For example, the angle between tilt axes 724a and 724 b can be ten degrees and the angle between tilt axes 724 a and724 c can be one hundred seventy degrees. In general, the angles betweenall of the tilt axes, 724 a, 724 b, 724 c and 724 d can be differentfrom one another.

In FIG. 18, the hover engines can be tilted to generate variousmovements, such as left, 714 a, right 714 b, forward 714 b and back 714b. Further, the hover engines can be tilted as a function of time tocause the vehicle 700 to follow a curved path, such as 716 a and 716 b.In addition, the hover engines can be tilted to cause the vehicle 700 torotate in place in a clockwise or counterclockwise rotation 712. Forexample, without rotating, the vehicle 700 can be controlled to move ina first straight line for a first distance, and then move in a secondstraight line perpendicular to the first straight line for a seconddistance. Then, the vehicle 700 can rotate in place.

A vehicle with a configuration similar to vehicle 700 was constructed.The vehicle cylindrically shaped with a diameter of 14.5 inches and aheight of 2.125 inches. The vehicle weighed 12.84 pounds unloaded. Testswere performed where the vehicle carried more than twenty five pounds ofpayload beyond its unloaded weight.

Four hover engines are used. Each hover engine includes a STARM which is4.25 inches in diameter. Sixteen ½ inch cube magnets are arranged ineach STARM in a circular pattern. The arrangement is similar to theconfiguration shown in FIG. 24 which employs twenty magnets. N52strength Neodymium magnets are used.

One motor is used to turn each STARM. The motors were Himax 6310-0250out runners. The motors each weigh 235 grams. The optimum working rangefor the motors is 20 to 35 Amps with a max current of 48 Amps. Themotors are cylindrically shaped with a length of 32 mm and a diameter ofabout 63 mm. The motor power is about 600 Watts and the motor constant,K_(V), is about 250.

Electronic speed controllers were used for each motor. In particular,Phoenix Edge electronic speed controller (Edge Lite 50, CastleCreations, Inc. Olathe, Kans.) were used. The speed controllers arecoupled to batteries. In this embodiment, two VENOM 50C 4S 5000 MAH 14.8Volt lithium polymer battery packs are used (Atomik RC, Rathdrum, Id.)

Four Hitec servos were used (HS-645MG Ultra Torque, Hitec RCD USA, Inc.Poway, Calif.) as actuators. The servos put out a maximum torque of 133oz-in and operate between 4.8 and 6V. Depending on the size of the hoverengine which is actuated, different servos with varying torque outputcapabilities may be used and this example is provided for illustrativepurposes only.

In addition, one actuator is shown per motor. In alternate embodiments,a single actuator can be used to tilt more than one hover engine. In yetother embodiments, a plurality of actuators can be used to change anorientation of a STARM and/or motor. In further, embodiments, one ormore actuators in combination with an input force provided from a usercan be used to change an orientation of a STARM and/or motor.

The servos are used to tilt a motor and a STARM in unison. The controlsystem is configured to independently tilt each hover engine includingthe motor and STARM. In a particular embodiment, the motor and STARM areconfigured to tilt through a range of −10 to 10 degrees. Ranges, whichare greater or small than this interval can be used and this example isprovided for the purposes of illustration only.

In one embodiment, the same tilt range can be implemented for each hoverengine. In other embodiments, the tilt range can vary from hover engineto hover engine. For example, a first hover engine can be tilted betweena range of −15 to −15 degrees and a second hover engine can be tiltedbetween −5 and 10 degrees.

A Hobbyking KK2.1.5 Multi-rotor LCD Flight Control Board with 6050MPUand an Atmel 644PA was used for control purposes. The board is 50 mm×50mm×12 mm and weighs 21 grams. The input voltage is 4.8-6V. Thegyro/accelerometer is a 6050MPU InvenSense, Inc. (San Jose, Calif.). Ithas a MEMS 3-axis gyroscope and a 3-axis accelerometer on the samesilicon die together with an onboard Digital Motion Processor™ (DMP™)capable of processing complex 9-axis Motion/Fusion algorithms.

The vehicle was able to climb up sloped surfaces. In a test on a flattrack, an acceleration of 5.4 ft/sec² was measured, which is about 0.17g's. The acceleration depends on the thrust force which is output, theoverall weight of the vehicle, the tilt angle of the STARMs and theSTARM magnet configuration. Thus, this example is provided for thepurposes of illustration only.

In particular embodiments, a vehicle can be controlled via a mobilecontrol unit. The mobile control unit can be coupled to a vehicle via awireless or wired communication link. The mobile control unit caninclude one or more input mechanisms, such as control sticks, a touchscreen, sliders, etc.

The mobile control can receive inputs from the input mechanisms and thensend information, such as commands, to the vehicle. A command could bemove right, move in some direction or rotate in place. The GNC system onthe vehicle can receive the command, interpret it and then in responsegenerate one or more additional commands involving controlling theactuators and/or hover engines to implement the commands. For examples,one or more of the actuators on the vehicle can be controlled toimplement a received movement or rotation command.

In one embodiment, the mobile control unit can be a smart phone, with atouch screen interface. An application executed on the smart phone cangenerate an interface on the touch screen which is used to input controlcommands. In addition, the application can be configured to outputinformation about the vehicle's performance to a display, such as speed,orientation, motor RPM, flight time remaining, etc. The smart phone canbe configured to communicate with the vehicle via a wirelesscommunication interface, such as but not limited to Bluetooth.

In another embodiment, a hand-held control unit, such as one used tocontrol a quad copter or radio controlled car can be used. Hand-heldcontrol units can include multiple channels, a channel switch, a digitaldisplay, an antenna, control sticks, trims and an on/off switch. Oneexample is a Spektrum DX6i DSMX 6-Channel transmitter (Horizon Hobby,Inc., Champaign, Ill.). Next, some details of tilting a STARM to controla vehicle are described.

FIGS. 19A, 19B and 19C, show some examples of actuating differentcombination of hover engines to produce a movement or rotation. In FIG.19A, two hover engines 702 b and 702 c, which are shaded, are actuatedto produce a net rightward force 742 which can move the vehicle to theright 742. The direction of the net force generated by each of the twohover engines is shown by the adjacent arrows, 740 a and 740 b. Hoverengine 702 b generates a net force 740 a with a downward and rightwardforce component. Hover engine 702 c generates a net force 740 b which isupwards and to the right.

The upward and downward translational forces cancel when the two hoverengines are actuated to generate the same magnitude of force whichresults from the eddy currents induced in the substrate. The rightwardforce component are additive and produce a net translational force tothe right. When the two hover engines are an equal distance from thecenter of mass of the vehicle, the moments generated from the two hoverengines cancel one another and thus rotational stability can bemaintained.

The hover engines, even when identical, may not be actuated the sameamount. For example, the vehicle 700 can be tilted such that one ofhover engine 702 b and 702 c is closer to the substrate. The distance ofthe hover engine to the substrates affects the force output from thehover engine as a result of its tilt. Hence, different tilt angles maybe required to balance the forces output from each hover engine.

Further, when the vehicle 700 is loaded, the center of mass can shiftdepending on how the weight of the payload is distributed. Thus, thecenter of mass can shift from the unloaded state to the loaded state andthe two hover engines may no longer be an equal distance from the centerof mass of the vehicle. In this instance, when a pair of hover engineseach generates the same amount of net force, a net moment may be presentbecause the two hover engines are different distances from the center ofmass. Thus, the combination of hover engines which are used and theamount of actuation of each hover engine may have to be adjusted toaccount for the shifting center mass due to payload shifts or theoverall orientation of the vehicle 700 relative to the substrate overwhich it is operating.

The magnitude of the effects resulting from changes in the center ofmass will depend on how much the center of mass shifts from the loadedto unloaded state. Further, in some instances, the center of mass canshift during operation if the payload is allowed to move duringoperation or if the payload is being lessened. For example, if a fuel isconsumed during operation of the vehicle, the center of mass of thevehicle may change due to the fuel being consumed. As another example,if one or more persons is riding on a vehicle and can move around, thecenter of mass may change. Thus, in particular embodiments, the centerof mass may be changing dynamically during operation and the GNC systemcan be configured to account for the shifts in the center of mass of thevehicle when maintaining rotational and translational control.

In FIG. 19B, a net rightward movement is generated using four hoverengines. In this example, all four hover engines, 702 a, 702 b, 702 cand 702 d are actuated to generate a net force 746 in the rightwarddirection. In general, the hover engines can be actuated to generate anet translational force which is substantially in the rightwarddirection. In particular, the hover engines are actuated to canceltranslational forces in other than rightward directions. Further, hoverengines can be actuated such that the net moment acting on the vehicleis zero. As described above, to rotate the vehicle, a net moment can begenerated which rotates the vehicle in a clockwise or counter-clockwisedirection.

In FIG. 19C, the four hover engines, 702 a, 702 b, 702 c and 702 d, areshown actuated in a manner which causes a net moment in the clockwisedirection. The translational forces associated with the four hoverengines cancel one another. Thus, the vehicle can rotate in place.

In the example of FIGS. 19A, 19B and 19C, all four hover engines' tiltaxes are orientated about the edges of a rectangle. This configurationallows the vehicle to move upward/downward or left/right on the pagewith equal ease. In other embodiments, the hover engines tilt axes canbe located around the perimeter of a parallelogram. Thus, the hoverengine may more easily generate a translational forces in particulardirections, such as left/right on the page versus up/down on the page.Further, in some embodiments, as described above, mechanisms can beprovided which allow the direction of a tilt axes to be changed on thefly. Thus, it may be possible to change the configuration of the hoverengine tilt axes on the fly.

In the example of FIGS. 19A, 19B and 19C, the force vector generated byeach hover engine is assumed to be an equal distance from the center ofmass of the vehicle. In other embodiments, the hover engines can bedifferent distances from the center of mass of the vehicle. For example,a pair of two hover engines can each be a first distance from the centerof mass and a second pair of hover engines can each be a second distancefrom the center of mass.

Further, even when the hover engines are the same distance from thecenter of mass the hover engines can be configured to output differentlevels of propulsive forces. For instance, one hover engine may use agreater volume of magnets than another hover engine to output moreforce. In another example, the rotational velocities of two identicalhover engines can be different, which can cause the hover engines tooutput different levels of propulsive forces relative to one another. Inone embodiment, multiple hover engines used on a vehicle can beidentical and operated at a similar rotational velocity so that theyeach output a similar amount of force.

In general, when a plurality of actuatable hover engines are used, eachhover engine can be positioned at a different distance from the centerof mass or combinations of hover engines may be positioned at the samedistance from the center of mass. Further, the size of each hoverengine, the magnet configurations used on each hover engine and theresultant force output by each hover can vary from hover engine to hoverengine on a vehicle. Although, combinations of hover engines within theplurality of hover engines can be selected with equal force generatingcapabilities. A GNC system can be designed which accounts differences inhover engine placement location on a vehicle and force generationcapabilities which differ between hover engines. In addition, the GNCsystem can be configured to account for dynamic loading and dynamicorientation changes of a vehicle, which affect the forces and momentsoutput from each hover engine.

In the examples above, the STARMs which are part the hover engines areconfigured to generate lift, propulsive and rotational forces. In otherembodiments, it may be desirable to specialize the hover engines. Forexample, a first hover engine can be configured to primarily generatelift and may be not actuatable for generating propulsive forces. Then,additional hover engines can be configured to generate some portion ofthe lift and can be actuatable to generate propulsive and rotationalforces as well which can be used to control and direct a vehicle. Somemagnet configurations may be more suitable for generating propulsiveforces as compared to lifting forces. Hence, when multiple hover enginesare used on a vehicle, the magnet configurations may be varied betweenthe hover engines.

FIG. 20 shows an example of vehicle 750 with five hover engines. Four ofthe hover engines are configured in the manner described above withrespect to FIG. 18. However, a fifth hover engine 752 located in thecenter of the vehicle is configured to generate lift only and isnon-actuatable whereas four hover engines, similar to what waspreviously described, can be actuated to generate the propulsive,rotational and control forces.

In particular embodiments, the four hover engines, 702 a, 702 b, 702 cand 702 d, may not be able to hover the vehicle alone. For example, inone embodiment, the four STARMs may not be able to hover an unloadedvehicle and may require some lift to be generated from the lift-onlyengine. In another embodiment, four STARMs may be able to hover thevehicle while it is unloaded. However, if the vehicle carries someamount of payload, then operating the lift only hover engine may beneeded.

In one embodiment, the height above the surface of the bottom of themagnets in the propulsive hover engines and height above the surface ofthe bottom of the magnets in the lift only hover engine can be offsetfrom one another when the STARMs in the propulsive hover engines and thelift only hover engines are parallel to the surface. For example, theheight of the bottom of the magnets in the propulsive STARMs can bepositioned at a distance farther away from the surface than the heightof the bottom of the magnets in the lifting STARM. The amount of forceneeded to tilt a STARM in a hover engine relative to the surface canincrease as the STARM gets closer to the surface. The amount of forceincreases because magnetic forces are generated non-linearly andincrease the closer the magnets are to the surface. Thus, by keeping thepropulsive STARMs farther away from the surface than the lifting STARMsduring operation, it may be possible to utilize less force to tilt thepropulsive STARMs. STARMs with less magnet volume on the propulsiveSTARMs as compared to the lifting STARMs can also lessen the forceoutput from the propulsive STARMs and hence require less force to tiltthan the lifting STARMs.

In one embodiment, a mechanism can be provided, separate from the tiltmechanism, which can be used to control a distance of a hover engine,such as the propulsive STARM from the surface. For example, themechanism can be configured to move the hover engine in the verticaldirection closer or farther away from the surface. This capability canalso be used when the vehicle is first started. For example, while atrest, the bottom of the vehicle can rest on the ground and the hoverengines can be pulled up into the vehicle enclosure. Then, the hoverengines can be started. After the hover engines reach a certain velocitythe hover engines can be moved relative to the vehicle such that thehover engines are closer to a bottom of the vehicle.

Since the propulsive hover engines may not be needed to carry the fulllift load, in some embodiments, it may be possible to use smallerpropulsive and control STARMs than if the control and propulsive STARMsare also used to carry the entire lift load. One advantage of using thisapproach is that if the control and propulsive STARM can be made smaller(e.g., a smaller radius and moment of inertia), the amount of force usedto actuate the STARMs can be smaller. Thus, it may be possible to usesmaller, lighter and less expensive actuators.

Another advantage of using hover engines specialized for lift or controlis that the operating conditions of the hover engine used to generatelift most efficiently can be different than the operating conditionsused to generate the propulsive and control forces most efficiently.Thus, when some of the hover engines are used primarily for lift only,these hover engines may be operated at different conditions as comparedto the hover engines configured to generate control forces. For example,to generate relatively more propulsive forces, a control hover enginecan be operated at a rotational velocity which is near peak drag, i.e.,a lower lift to drag ratio as compared to a higher rotational velocity.In contrast, a lift-only hover engine may be operated at a higherrotational velocity to minimize drag and maximize lift because, asdescribed above, after peak drag the drag force on a hover engine candecrease and the lift to drag ration can increase as the rotationalvelocity increases.

Next, the NGC system, which can be used to control a hover engineconfiguration to move a magnetically lifted vehicle, is described.First, each of the functions of navigation, guidance and control (NGC)are briefly discussed. These functions can be incorporated as logic foran NGC system implemented as circuitry on a magnetically lifted device.For example, the NGC system can be a component of the controller 706 inthe previous figures.

First, navigation is figuring out where you are and how you are orientedrelative to a defined reference frame. For example, where you are couldbe in your car in the driveway, and your orientation is trunk of the cartowards the curb. In this example, the reference frame is a flat earth.

Second, guidance involves figuring out a path to take. In particular,guidance is figuring out how to get where you want to go based on whereyou are. Guidance comes after navigation, because if you don't knowwhere you are, it is difficult to figure out which way to go. Guidancehas potentially a very large number of solutions. However rules andconstraints can be imposed to limit the solution size.

As an example, you know you are in your driveway with your backsidetowards the curb. How do you get to the store? A rule can be imposedthat you have to follow the predefined system of roadways. This limitsyour guidance options. You might also include rules about obeying speedlimits and stop signs. This shrinks the solution space further. You mayalso have vehicle limitations. For example, a four cylinder Corollamight not have the same acceleration capability as a Ferrari. Thisnotion can be applied to different configurations of hover engines whichcan have different performance characteristics.

When the rules and limitations are combined, a guidance solution thatdefines orientation, velocity, and acceleration as functions of time canbe obtained. In the guidance space, there can be flexibility to imposeor relax the rules to achieve the performance which is desired. Forinstance, per the example above, when one is trying to reach adestination very quickly for some reason, one may choose to ignore speedlimits for some period of time.

Control is getting the vehicle to perform as the guidance solution asksit to perform. This means accelerating, decelerating, maintainingvelocity, etc. so that the vehicle follows the guidance solution asclosely a desired. In the current example, the driver is the controlsystem. Thus, he or she monitors the speed and acceleration and can makeminute adjustments to maintain the desired conditions. In the examplesabove, the NGC system can make adjustments to the tilt angles of thehover engines to maintain the desired conditions.

Thus, the combination of navigation, guidance, and control allows amagnetically lifted vehicle to be moved in a desired way. Asdisturbances do enter the system, it may be important to regularlyupdate the navigation, guidance, and control solutions. A system updatedin this manner can form a closed loop system. The closed loop system mayallow for more accurate motion of the vehicle under GNC.

In alternate embodiments, an open-loop controller, also called anon-feedback controller, can be used. An open-loop controller is a typeof controller that computes its input into a system using only thecurrent state and its model of the system. A characteristic of theopen-loop controller is that it does not use feedback to determine ifits output has achieved the desired goal of the input. Thus, the systemdoes not observe the output of the processes that it is controlling.

For a magnetically lifted vehicle, the GNC can include combinationsof 1) velocity control, 2) waypoint management, 3)acceleration/de-acceleration curves (profiles), 4) velocity profiles, 5)free path, which combines acceleration/de-acceleration profiles andvelocity en route and 6) navigation. Navigation can include utilizingone or more of a) dead reckoning, b) an indoor positioning system, c)retro-reflectors, d) infrared, e) magnetics, f) RFID, g) Bluetooth, f)ultrasound and g) GPS. An indoor positioning system (IPS) is a solutionto locate objects inside a building, such as a magnetically liftedvehicle, using radio waves, magnetic fields, acoustic signals, or othersensory information collected by appropriate sensors. Various types ofsensors sensitive to different types of energies can be used in anavigation solution. Thus, these examples are provided for the purposeof description and are not meant to be limiting.

A method of GNC can involve establishing acceleration/de-accelerationprofiles (curves, limits, etc.), which may include establishing velocityacceleration/de-acceleration profiles (curves, etc.). Next, a route canbe created. The route can be converted into x and y path points on asurface.

In one embodiment, waypoints can be added. Typically, start and end arewaypoints by default. What happens at waypoints (null, stop, specificvelocity, etc.) can be defined. Path segments can be defined bywaypoints.

Next, the orientation for each path segment (relative to velocitydirection, relative to fixed point, spinning profile, etc.) can bedefined. With the path segments defined, the GNC system can maneuver thevehicle along each path segment according to user definedvelocity/acceleration profiles and orientations. Finally, the currentposition (x, y) of the vehicle can be monitored relative to a preplannedroute with regular navigation updates. As the vehicle moves, a currentposition and desired position can be compared based upon the sensordata. Then, the system can be configured to correct for errors.

In some embodiments, the hover height of a vehicle can be controlled.Thus, the system can be configured to determine a height profile of avehicle along a path segment. Then, while the vehicle is maneuveredalong the path segment, the system can receive sensor data which is usedto determine a height of the vehicle. The system can be configured tocompare the measured height from the desired height and then correct forerrors.

Next, an embodiment of a GNC system used to control the vehicledescribed with the respect to FIGS. 21, 22 and 23 is discussed. In thisexample, a wireless controller is used to control the vehicle. Thewireless controller can generate input signals in response to usercommands.

A proportional-integral-derivative controller (PID controller) is acontrol loop feedback mechanism (controller) often used in industrialcontrol systems. A PID controller can calculate an error value as thedifference between a measured process variable and a desired set point.The controller can attempt to minimize the error by adjusting theprocess through use of a manipulated variable.

The translational motion control for the vehicle can use a PID controlsystem for lateral acceleration control 800. Two lateral accelerationinputs can be received from the user via the wireless controller. Theseinputs can be fed into their own individual PID control loops, as inFIG. 21.

Inside the control loop, the input can be differenced with theacceleration output feedback measured by the accelerometer. Theresulting difference is the error. The error can be fed into the PIDcontroller, which can have three components, the proportional control,the integral control, and the differential control.

The proportional element multiplies the error by a proportional gain,K_(p). The integral element computes the sum of the errors over time,and multiplies this by the integral gain, K_(I). The differentialcontrol differences the current input with the previous input, andmultiples this difference by the differential gain, K_(D). Theproportional, integral, and differential elements are then summed andsent to the mixing logic as shown in equation 810 of FIG. 22.

The outputs from the mixing logic are sent into the plant, G. Theresulting translational acceleration is the output from the plant. Thevehicle's translational acceleration is measured by the accelerometers.This measured acceleration is fed back to the beginning of the PIDcontrol loop.

The spin control for the vehicle can use a PI (Proportional-Integral)control system 820 for yaw speed control, as shown in the block diagramin FIG. 23. A yaw acceleration input is received from the user via an RCcontroller. This yaw input can be differenced with the yaw outputfeedback measured by the gyroscope. The resulting difference is theerror. This error can be fed into the PI controller, which has twocomponents, the proportional control and the integral control. Theproportional element multiplies the error by a proportional gain, K_(p).

Magnet Configurations and Performance Comparisons

In this section, various magnet configurations which can be used inSTARMs are described with respect to FIGS. 24-41. Prior to describingthe magnet configurations some terminology is discussed. Typically, apermanent magnet is created by placing the magnet in an outside magneticfield. The direction of the outside magnetic field is at someorientation relative to the geometry of the permanent magnet which isbeing magnetized. The direction of the outside magnetic field relativeto the geometry of the permanent magnet when it is magnetized determinesthe poles of the permanent magnet where the north and south polesdescribe the polarity directions of the magnet.

In the examples below, a STARM will have an axis of rotation. A firstgroup of magnets can be referred to as “poles.” Poles can have apolarity direction which is approximately parallel to the axis ofrotation of the STARM. Although, in some embodiments, magnets can besecured in the STARM such that there is an angle between the polaritydirection of the magnet and the axis of rotation of the STARM. Inaddition, as described above, mechanisms can be provided which allow anorientation of a permanent magnet to be dynamically changed on a STARM.

A second group of magnets can be referred to as “guides.” The guides canbe secured in a STARM such that the angle between the polarity directionof the guides and the axis of rotation is approximately ninety degrees.However, the angle between the guide magnets and the axis of rotationcan also be offset by some amount from ninety degrees. When pole magnetsare secured in a STARM with alternating polarity directions, themagnetic field lines emanating from the north pole of one pole magnetcan bend around to enter into the south pole of an adjacent pole magnetand the magnetic field lines emanating from the south pole of one polemagnet can bend around to enter into the north pole of an adjacentmagnet. Typically, the guide magnets can be placed between the poles.The “guide” magnets can guide the path of the magnetic fields thattravel between the pole magnets.

The combination of pole magnets and guide magnets can be secured in aSTARM to form a configuration of polarity regions. On a STARM, thisconfiguration can be referred to a polarity arrangement pattern. In someof the examples below, a polarity arrangement pattern of the STARM canbe formed from a first polarity arrangement pattern which is repeated.For example, the polarity arrangement pattern can be formed from a firstpolarity arrangement pattern which is repeated two, three, four, fivetimes, etc. In other embodiments, the polarity arrangement pattern of aSTARM can be formed from a first polarity arrangement pattern and asecond polarity arrangement pattern where the first polarity arrangementpattern or the second polarity arrangement pattern is repeated one ormore time.

A polarity region in a polarity arrangement pattern can have a commonpolarity direction. The polarity region can be formed from one or moremagnets polarized in the common direction associated with the polarityregion. In the examples which follow, single magnets, such as one inchcubic magnets, are described as forming a polarity region. However,multiple magnets of a smaller size can be used to form a polarityregion. For example, a one inch cube polarity region can be formed fromeight one half inch cubed magnets or sixteen one quarter inch cubemagnets all arranged in the same direction. Thus, the examples below areprovided for the purposes of illustration only and are not meant to belimiting.

An overall polarity arrangement pattern generated on a STARM usingpermanent magnets can form a magnetic field with a particular shape anddensity of magnetic field lines. The magnetic field is three dimensionalin nature and can be quite complex. The strength of the field atdifferent locations can depend on the volume distribution of magnets andtheir associated strength.

Magnetic fields are generated when current is moved through a wire. Forexample, current passing through a wire coil generates a magnetic fieldwhich approximates a bar magnet. A magnet constructed in this manner isoften referred to as an “electromagnet.” In various embodiments, themagnetic field shapes and density of magnetic field lines from anarrangement of permanent magnets can be approximated by usingarrangements of wires and passing current through the wires. Thus, theexample of permanent magnets is provided for the purposes ofillustration only and is not meant to be limiting.

A STARM can have a top side and a bottom side. When eddy currents aregenerated, a bottom side can face the conductive substrate where eddycurrents are induced by the rotation of the STARM. Often, when permanentmagnets are used, the permanent magnets can have at least one flatsurface. As examples, cubic shaped magnets have six flat surfaces,whereas, cylindrically shaped magnets have two flat surfaces which arejoined by a curved surface. In some embodiments, the at least one flatsurface on each of the permanent magnets on a STARM can be secured on acommon plane. The common plane can reside close to the bottom side ofthe STARM.

In alternate embodiments, a STARM can be curved or angled. For example,the STARM can be convex or concaved shape and/or include other curvedportions. The bottom of magnets of the STARM can be arranged to followthe bottom surface of the STARM including curved surfaces. The magnetscan have flat bottoms, such as cubic magnets. However, in otherembodiments, the magnets can be formed in curved shapes to help confirmto the curvature of the STARM.

As an example, a hover engine can be configured to operate within a pipeor a trough where the inner surface of the pipe includes a conductivesubstrate. The STARM of the hover engine can be bowl shaped and bottomof the magnets on the STARM can be arranged to follow outer surface ofthe bowl shape. When a STARM is placed next to a curved surface, alarger proportion of the magnets on the STARM can be closer to the innersurface of the pipe as compared to if the magnets were arranged in acommon plane, such along the bottom of a flat disk.

Next, some magnet and STARM configurations are described. FIG. 24 showsa STARM 1200. The STARM 1200 has a ten inch outer diameter. Twenty oneinch cube magnets are arranged around the circumference of a circle. Inparticular, one inner radial side of each of the twenty one inch cubemagnets is approximately tangent to a 3.75 inch radius circle.

The inner radial distance provides a small gap between each magnet. Thegap between magnets increases as the radial distance increases. Aminimum inner radial distance allows the magnets to approximately touchone another. The inner radial distance can be increased, which for thesame amount of magnets increases the minimum gap between the magnets.

A structure of about 0.25 inches thick is provided between the outerradial edge of the magnets and the outer diameter 1202 of the STARM. Inone embodiment, the center of the STARM can include a number of mountingpoints, such as 1204. The mounting points can be used to secure theSTARM 1200 to a rotatable member, such as a rotatable member extendingfrom a motor.

The polarity arrangement pattern of the STARM includes ten pole magnetsand ten guide magnets. The polarity arrangement pattern is formed from afirst polarity arrangement pattern as exemplified by magnets 1206, 1208,1210 and 1212. In this example, the first polarity arrangement patternis repeated four times. In other embodiments, the first polarityarrangement pattern can be used once on a STARM or can be repeated two,three four times, etc. Further, more than one ring of magnets can beprovided, which utilize the first polarity pattern. For example, thefirst polarity pattern can be repeated twice in an inner ring and thenfour times in an outer ring as shown in FIG. 24.

In the example above, the volume of each pole and guide magnet is thesame. In other embodiments, the volume of the pole magnets and the guidemagnets can vary from magnet to magnet while still maintaining theoverall polarity arrangement pattern. For example, the volume of thepole magnets can be half the volume of the guide magnets. In anotherexample, the volume of the pole magnets can be double the volume of theguide magnets.

The shape of pole and guide magnets is cubic with a one cubic inchvolume for each magnet. In other embodiments, the volume of eachpolarity region can be maintained but a different shape can be used. Inyet other embodiments, the polarity arrangement pattern can bemaintained but different volume size can be used for each polarityregion. For example, a single cubic magnet, with a 0.125 inch, 0.25inch, 0.5 inch, 0.75 inch, 1 inch, 2 inch, 3 inch, 4 inch, 5 inch ormore side can be used to provide each polarity region.

When twenty smaller cubic magnets are used, it is possible to arrangethem around a smaller radius circle. When twenty larger cubic magnetsare used, a larger radius circle is required. When the first polarityarrangement pattern is repeated more times and the magnet size is thesame as in FIG. 24, a larger radius STARM is required. When the firstpolarity arrangement pattern is repeated less times and the magnet sizeis the same, a smaller radius STARM can be used. However, the magnetscan also be arranged around the same radius but with a larger gapbetween magnets.

In FIG. 24, the pole and guide magnets which form the polarityarrangement pattern are arranged around a circle. In other embodiments,the magnets can be arranged around other shapes, such as a square or anoval. Some examples of using the first polarity arrangement pattern butarranging the magnets around a different shape are described withrespect to the Figures which follow.

In the FIG. 24, the bottoms of the twenty magnets are arranged in aplane which is near the bottom of the STARM 1200. The area of the bottomof the magnets is approximately twenty cubic inches and the volume ofthe magnets is approximately twenty cubic inches. In variousembodiments, the area of the bottom the magnets closest to the bottom ofSTARM 1200 divided by the Volume^(2/3) is greater than or equal to one,i.e., Area/Volume^(2/3)>1.

For STARM 1200, the Area/Volume^(2/3) equals about 2.71. In otherembodiments, this ratio can be greater than or equal to two. In yetother embodiments, the ratio can be greater or equal to three. Infurther embodiments, this ratio can be greater than or equal to four. Inyet other embodiments, this ratio can be greater than or equal to five.

In FIG. 25, STARM 1200 is shown secured in an enclosure with top piece1214 and a bottom piece 1216. The enclosure is formed from a number ofthe layers. In this example, layers of aluminum and polycarbonateplastic are used where layers 1214 and 1216 are formed from aluminum.Other materials are possible and these are provided for the purposes ofillustration only.

In one embodiment, the center region of the STARM 1200 can provide alarge enough space such that a motor can fit in this region. In otherembodiments, a motor can be mounted above the top side 1214, such that atop side of the magnets is beneath the motor. In yet other embodiments,a motor can be mounted to the side of the STARM 1200 and a transmissionmechanism can be provided, such as a mechanism including belts andgears, to transfer a torque used to turn STARM 1200. If the STARM 1200is bowl shaped, then the motor might fit partially or entirely below atop lip of the bowl.

In FIG. 25, a model was built and tested experimentally. In addition,the results were simulated using Ansys Maxwell. A comparison of theexperimental and numerical results is shown in FIGS. 34 and 35. A numberof other designs were also simulated. These designs are described withrespect to FIG. 26-31. In addition, numerical results are compared toone another in FIGS. 36 to 38. Finally, the numerical results predicteddy current patterns which are induced from the rotating the STARM.Some examples of these eddy current patterns for a number of differentdesigns are illustrated in FIGS. 32 and 33.

In FIG. 26, a variation 1230 of the design 1200 in FIG. 24. In 1230, thenumber of magnets is twenty and the magnet volume is twenty cubicinches. The number of magnets is arranged around a larger circle ascompared to design 1200. In particular, the radius of the circle is 4.25inches instead of 3.75 inches. The increased circle radius results in alarger spacing between adjacent magnets. In one embodiment, design 1230is configured in a STARM with an outer diameter of eleven inches. Anumerical prediction of lift for this design is shown in FIGS. 37 and38.

A second variation 1240 of design 1200 is shown in FIG. 27. In 1240, thenumber of magnets is twenty and the magnet volume is twenty cubicinches. However, magnets with half the height are used. The magnets aretwo inches by 1 inch by ½ inch (L×W×H). The magnets are arranged withthe same starting position as shown in FIG. 24. However, each of themagnets extend radially outward an extra inch. To accommodate theadditional radial length of the magnets, the radial distance of a STARMcan be increased. A numerical prediction of lift for this design isshown in FIGS. 37 and 38.

The bottom area of the magnets is forty cubic inches. The area dividedby the total volume^(2/3) is about 5.43. In alternate embodiments, whilemaintaining a constant volume, this ratio can be increased by loweringthe height of the magnets and extending their radially length. Forexample, in FIG. 27, the height of the magnets can be lowered to ⅓inches and the length can be extended to three inches radially. For thisdesign, the bottom area of the magnets is sixty square inches and thearea divided by total volume^(2/3) is about 8.14.

In 1240, a gap 1242 is shown between each magnet. In one embodiment, amagnet, such as triangle shaped magnet 1244 can be inserted in the gap.In one embodiment, the polarity of the gap magnet can be selected tomatch the polarity of the adjacent guide magnet or pole magnet. Forexample, the polarity of the adjacent guide magnet can be selected forall of the gap magnets or the polarity of the adjacent pole magnet canbe selected for all the gap magnets. In another embodiment, twotriangular shaped magnets can be placed in the gaps where one of themagnets' polarities matches the adjacent pole magnet and the othermatches the adjacent guide magnet. In yet another embodiment, the twentymagnets can be custom shaped such that the magnets fit together withminimal gaps.

Yet another designs is shown in FIG. 28, the number of rows is five. Inparticular, two rows of 3.5 in by 1 in by 1 in magnets, two rows of 4 inby 1 in by 1 in and one row of 5 in by 1 in by 1 in magnets are providedfor a total volume of 20 cubic inches of magnets. Five rows enable themagnets to fit in approximately a three inch radius circle. A circlewith a twenty inch area has a radius of 2.52 inches, which is thesmallest radius which can be used. Thus, design 1290 is approaching thislimit while employing rectangular shaped magnets.

The polarity arrangement pattern 1292 is used for design 1290. Two polesand a single guide magnet polarity are used. The ratio of guide magnetvolume to pole magnet volume is 1.86. A prediction of the lift is shownin FIG. 36.

The polarity arrangement pattern 1292 employs three polarities regions.Many different designs alternatives are possible where the total volumeof magnets in the design and the percentage of the total volumeallocated to each of the three polarities vary from design. Further, theshape of magnets forming each of the three polarity regions can bevaried from design to design. For example, design 1390 in FIG. 33 usesthe same volume of magnets as design 1290. However, the percentage ofthe total volume allocated to each of the three polarity regions isdifferent and the shape of each of the three polarity regions isdifferent.

In FIG. 28, in one embodiment, a small space in the magnetconfigurations can be provided near the axis of rotation to allow arotation member to extend through the space and attach to the structureof the STARM. In another embodiment, a structure can be provided whichextends over the top and sides of the magnets and a rotational membercan be secured to this structure.

Another magnet configuration 1320 is shown in FIG. 29. Again, twenty oneinch cube magnets are shown. The magnets are arranged in four clusters,1330, 1332, 1334 and 1336, each with five cubic inches of magnets. Eachcluster includes pole and guide magnets.

As an example, cluster 1330 includes a pole section 1324 with threecubic inch magnets. The magnets in the pole section are arranged inalong a radial line. The pole section 1324 is orientated to point intothe page. Two guide magnets 1322 a and 1322 b point towards the centerof the pole. The ratio of the guide magnet volume to pole magnet volumeis 2/3.

Cluster 1332 includes pole section 1328. The pole section includes threeone inch cube magnets aligned along a radial line from the axis ofrotation 1338. The polarity of the magnets in the pole section 1328 isout of the page, i.e., the open circles represent a north poles and thecircles with “X” inside represent a south pole. Two guide magnets 1326 aand 1326 b are provided. The polarity of the guide magnets is away fromthe pole section 1328.

The clusters 1330 and 1332 provide a polarity arrangement pattern. Thispattern is repeated with clusters 1334 and 1336. In various embodiments,a STARM can be formed with only clusters 1330 and 1332 or the polarityarrangement pattern can be repeated once, twice, three, four times, etc.

In various embodiments, the ratio of the guide magnet volume to polemagnet volume can be varied. Further, each individual cluster can berotated by some angle. For example, the pole section can be alignedperpendicularly to a radial line from the axis of rotation 1338. Inaddition, the volume of magnets in each cluster can be varied. Also, theradial distance of the magnets from the center axis of rotation 1338 canbe varied.

Yet further, the shape of the pole sections, such as 1324 and 1328, canbe varied. For example, the pole sections 1324 and 1328 can be formed asa single cylindrically shaped magnet with a volume of three cubicinches, such as a one inch high cylinder with a radius of about a 0.98inches or a ½ inch high cylinder with about a 1.38 inch radius. In theexample of design 1320, the guide magnets in each cluster are arrangedalong a line. In other embodiments, the guide magnets don't have to bearranged along a line. The shape of the guide magnets can also bevaried.

Yet another magnet configuration is described with respect to FIGS. 30and 31. In these configurations, the magnets are clustered and arrangedin a line where the amount of clusters can be varied. The designs 1360and 1370 in FIGS. 30 and 31 each include twenty cubic inches of magnets.In design 1360, the magnet volume is divided into two rectangularclusters of ten cubic inches each, 1362 a and 1362 b. In design 1370,the magnet volume is divided into four clusters, 1372 a, 1372 b, 1372 cand 1372 d, each with five cubic inches of magnets in each cluster.

A single cluster of twenty cubic inches of magnets can be provided. Thisdesign might be incorporated on a STARM with a single arm or a circularSTARM with a counter weight to balance the weight of the magnets. Ingeneral, one, two, three, four or more clusters can be distributed overa STARM.

Two polarity arrangement patterns 1364 and 1366 are shown. Thesearrangements can be repeated on each cluster. Pattern 1364 includes twopole regions. Pattern 1366 includes three pole regions. In pattern 1364,the ratio of guide magnet volume to pole magnet volume is 1.5. Inpattern 1366, the ratio of guide magnet volume to pole magnet volume isabout 2/3. The ratio of the bottom area of the magnets (20 squareinches) relative to the Volume²¹³ of the magnets is about 2.71. Again,like the other designs, this ratio can be varied.

In various embodiments, the ratio of guide magnet volume to pole magnetvolume can be varied for patterns 1364 and 1366. In addition, the radialdistance from the center axis of rotation can be varied. The radialdistance affects the moment of inertia. Further, the relative velocityof the magnets relative to the substrate varies with RPM of the STARMand the radial distance. Thus, the radial distance can be selected toobtain a desired relative velocity which is compatible with the RPMoutput capabilities of the motor and is compatible with packagingconstraints.

In FIGS. 30 and 31, the magnets in each cluster are arranged inrectangles and are configured to touch one another. In variousembodiments, the aspect ratio of the length relative to the width of therectangular clusters can be varied as is shown in FIGS. 30 and 31.Further, spacing can be provided between the magnets in a polarityregion or between different polarity region in the polarity arrangementpatterns 1364 and 1366. The spacing might be used to allow structurewhich secures the magnets. Further, the magnets don't have to bearranged to form a rectangle. For example, the magnets can be arrangedin arc by shifting the magnets relative to one another while allowing aportion of each adjacent magnet to touch. In general, many differenttypes of cluster shapes can be used an example of a rectangle isprovided for the purposes of illustration only.

Next some eddy current patterns for some of the different magnetconfigurations are illustrated in FIGS. 32 to 33. In the Figures, thearrows indicate a direction of current on the surface of a conductivesubstrate. The relative magnitude of the current is indicated by a sizeof the arrows. The eddy current patterns were generated using a finiteelement analysis to solve Maxwell's equations. The materials and theirphysical properties are modeled in the simulation.

The simulations were performed using Ansys Maxwell. The simulations useda ½ inch copper plate. The distance from the surface was 0.25 inches.The eddy current patterns remained similar when height was varied.However, the strength of the eddy currents increased as the height abovethe surface decreased. Peak currents observed for the simulations variedbetween about three to eight thousand amps per cm² at a 0.25 in heightabove the surface. The current decreased with depth into the copper. TheRPM value used for the simulations was 3080 RPM

In FIG. 32, the magnet configuration and polarity arrangement patterndescribed with respect to FIG. 24 is employed. The polarity arrangementpattern includes ten poles and ten guide magnets. Ten eddy currents,such as 1382 and 1384, are generated to form eddy current pattern 1380.

An eddy currents each form around a pole and guide magnet pair, such as1386 (pole) and 1388 (guide). The eddy currents spin in alternatingdirections. The current strength varies around the circumference of theeddy current where the strongest currents occur where the eddy currentsmeet and interact with one another. For each pair, the strongest currentsets up under a guide magnet, such as 1388.

The simulations indicated in this configuration that the poles generatenegative lift and the guide magnets provide lift. When lift from theguide magnets is greater than the pull from the pole magnet, a net liftis generated. Without being bound to a particular theory, it is believedthe enhanced current strength due to the eddy current interacting, whichpasses under the guide magnets, enhances the lift which is generated.

Pattern 1380 is a snap shot at a particular time. In the simulation, theSTARM and the magnets rotate according to the proscribed RPM value.Thus, the eddy currents such as 1382 and 1384 don't remain stationarybut follow the magnets around as the magnets rotate according to the RPMrate.

In FIG. 33, an eddy current pattern for a design 1390, which is avariation of design 1290 in FIG. 28, is shown. The design 1390 includesa small gap near the axis of rotation 1392. As described above, the gapcan be used to mount a rotational member to a STARM. In this design theSTARM structure doesn't have to be cylindrical. For example, a boxshaped design may be used to carry and secure the magnets. Thus, thestructure used for the STARM may be reduced for this configuration ascompared to a circular magnet configuration.

The polarity arrangement pattern 1254 is used, which is similar topattern 1292 in FIG. 28. The polarity arrangement pattern includes twopole sections. The two pole sections generate two large eddy currents1394 and 1396. The simulations predicted that positive lift wasgenerated from the guide magnets in the polarity arrangement pattern andnegative lift was generated from the pole magnets. The lift predictionsfor the configuration as a function of height are shown in FIG. 36.

Next, with respect to FIGS. 34 and 25, lift predictions derived fromsimulation of the design in FIG. 24 are compared to experimentallymeasured data. Next, the lift predictions derived from simulations arecompared for the designs shown in FIGS. 24 and 25-33.

To obtain the experimental data, the STARM shown in FIGS. 24 and 25 iscoupled to a QSL-150 DC brushless motor from Hacker Motor (Ergolding,Germany). The motor was powered by batteries. The batteries used wereVENOM 50C 4S 5000 MAH 14.8 Volt lithium polymer battery packs (AtomikRC, Rathdrum, Id.). A structure was built around the motor andbatteries. A vehicle including the batteries, motor, STARM and structureweighed 18 lbs. A Jeti Spin Pro Opto brushless electronic speedcontroller (Jeti USA, Palm Bay, Fla.) was used to control the currentsupplied to the motor and hence its RPM rate.

The vehicle was started in a hovering position. The height, RPM andother measurements were taken. Then, additional weight, in variousincrements, was added. The additional weight lowered the hover height ofthe test vehicle. Height measurements were made at each weightincrement. In a first test, the initial RPM rate was 3080 with the testvehicle unloaded and then decreased as weight was added. In a secondtest, the RPM rate was initially 1570 with the test vehicle unloaded.Table 1 below shows the experimentally measured data for test #1 andtest #2. The table includes the total vehicle weight including thepayload. The RPM of the motor. The amps drawn and voltage. Thesequantities were used to generate power consumption. Finally, the hoverheight of the vehicle was measured by hand. The height is shown toremain constant at a number of different height increments. The constantheight was attributed to inaccuracies in the hand measurements.

TABLE 3 Experimentally Measured Data using Design 1200 in Figure 24Weight including Payload Power Height (lbs) RPM Amps Volts (W) (in) Test#1 18 3080 12.1 61.6 745 1.125 27 3000 15.4 60.8 936 .9375 35.6 291519.5 60 1170 .9375 44.2 2855 22.7 59.4 1348 .875 52.8 2780 26.8 58.61570 .875 58 2740 29.4 58.1 1708 .8667 Test #2 18 1570 10.3 49.4 509 127 1480 13.9 49.3 685 .9475 35.6 1420 17.4 49.3 858 .875 44.2 1390 20.849.2 1023 .8125 52.8 1350 24.4 49.1 1198 .75

To access the accuracy of the simulations of the STARM design in FIG.24, a constant RPM value was selected and then the distance from thebottom of the magnets to a ½ inch copper plate is varied. FIG. 34 showsa comparison of the numerical simulations with the experimental datafrom tests number one and two between a height of three quarters of aninch and one and one quarter of an inch. The numerical simulations arecurve fit with an exponential. The curve fits are represented by thedashed and solid lines.

The simulations were generated at heights of 0.25 inches, 0.5 inches,0.75 inches, 1 inch and 1.25 inches. The curve fits were extrapolated toheights of zero inches and to 1.5 inches. In FIG. 34, the experimentaldata and simulated data is shown from a height range of zero to one andone half inches.

Next with respect to FIGS. 36, 37 and 38, the designs in FIGS. 24 and26-33 are described. To compare designs, an average velocity of thebottom of the magnets relative to the top surface of the conductivesubstrate is considered. In some of the designs, this value was heldconstant. The average velocity of the magnets relative to the surfacecan be estimated as an average distance of the bottom of the magnets tothe axis of rotation times the RPM rate converted into radians.

The average velocity was calculated because at higher velocities, thelift tends to increase and the drag tends to decrease as a function ofthe velocity of the magnets relative to the surface. In FIG. 36, theaverage distance from axis of rotation to the bottom of the magnets wasabout 2.81 inches for design 1395, 1.56 inches for design 1290 and 4.25inches for design 1200.

All of the simulations were run at 3080 RPM except for design 1290,which was run at 6000 RPM. The RPM value was increased because theaverage distance was so much lower for this design and hence the averagevelocity was much lower than other designs when an RPM of 3080 wasselected. Based upon these RPM values, the average velocity of design1395 is 75.2 feet/s, the average velocity of design 1290 is 81.7 feet/sand the average velocity of design 1200 is 114.2 feet/sec.

For the designs in FIGS. 37 and 38, the average distance from the axisof rotation is 4.75 inches and the RPM value is 3080. Thus, the averagevelocity relative to the surface for the five designs is the same and is127.6 feet/s. FIGS. 37 and 38 show the same designs. However, in FIGS.37 and 38, the height range and lift ranges are narrowed so that thedifferences between the designs can be discerned.

The numerical results were generated at 0.25, 0.5, 0.75, 1 and 1.25inches. Some of the numerical results were curve fit using anexponential equation. In FIG. 36, design 1290 is predicted to generatethe most lift above 0.75 inches. Below 0.25 inches, the curve fitspredict design 1200 will generate more lift. Design 1290 generates morelift at the greater height values than the other designs even with alower average velocity of the bottom of the magnets relative to thesurface as compared to the other designs.

In FIGS. 37 and 38, the predicted lift as a function of height ispresented for five designs. The curve fit with the solid line is anexponential fit of the data for design 1360 in FIG. 30 which includestwo linearly arranged clusters of magnets with ten cubic inches ofmagnets per cluster. The curve fit with the dotted line is anexponential fit of the circularly arranged magnets for design 1230 inFIG. 26.

The five designs in FIGS. 37 and 38 each use the same volume of magnetsof the same strength (N50, neodymium). The magnets are arranged suchthat the average velocity of the magnets relative to the surface is thesame. The lift predictions for the different magnet arrangements varyfrom arrangement to arrangement. The performance between designs variesbetween heights. For example, the predicted lift for design 1360 islargest of the five designs at 0.25 and 0.5 inches. However, at 1 inchand 1.25 inches, designs 1320 and 1240 are predicted to generate morelift.

Next, with respect to FIGS. 39 to 41, lift predictions and thrustpredictions are made as a function of tilt angle of the STARM. In FIG.39, predictions of total lift and thrust force as a function of tiltangle are shown for design 1200 shown in FIG. 24. In FIG. 40, thepredicted total lift as a function of tilt angle is shown for design1290 in FIG. 28.

In FIG. 41, the predicted thrust force as a function of tilt angle fordesign 1290 in FIG. 28 is shown. For design 1290, the thrust forcevaries as the magnet configuration rotates relative to the surface. Itoscillates between a minimum and maximum value. The maximum and minimumvalues for each tilt angle are shown in the Figure.

In FIG. 39, the tilt angle is varied between zero and seven degrees. Aone inch height above the surface of the tilt axis is simulated wherethe STARM is rotated at 3080 RPM. Thus, the distance of part of theSTARM to the surface of the substrate is greater than one and thedistance of part of the STARM is less than one. However, the averagedistance from the bottom of the STARM to the substrate is one inch. InFIGS. 40 and 41, the tilt angle is varied between zero and sevendegrees. A one inch height above the surface of the axis of rotation isagain simulated where the STARM is rotated at 6000 RPM.

In FIGS. 39 and 40, the total lift is predicted to increase with tiltangle. The effect is greater for design 1200 as compared to design 1290.In some embodiments, a STARM can be fixed at angle greater than zero totake advantage of the greater lift which is generated. At the tiltangles considered, the total lift appears to increase linearly withangle.

In FIGS. 39 and 41, the thrust force increases with tilt angle. At thetilt angles considered, the thrust force increases linearly with angle.A greater thrust force is predicted design 1200 in FIG. 39 as comparedto design 1290 in FIG. 41 even though a larger total lift is predictedfor 1290 as compared to design 1200. Thus, in some embodiments, design1200 might be selected for generating thrust whereas design 1290 mightbe selected for generating lift. STARMs can be specialized to generatelift or thrust forces. Based upon these simulations, some designs may bemore suitable for generating lift forces and other designs may be moresuitable for generating thrust forces. Additional magnet configurationswhich can be utilized with the hover engines and hover vehiclesdescribed herein are described in previously incorporated by referenceapplication Ser. Nos. 14/737,442 and 14/737,444.

Embodiments of the present invention further relate to computer readablemedia that include executable program instructions for controlling amagnetic lift system. The media and program instructions may be thosespecially designed and constructed for the purposes of the presentinvention, or any kind well known and available to those having skill inthe computer software arts. When executed by a processor, these programinstructions are suitable to implement any of the methods andtechniques, and components thereof, described above. Examples ofcomputer-readable media include, but are not limited to, magnetic mediasuch as hard disks, semiconductor memory, optical media such as CD-ROMdisks; magneto-optical media such as optical disks; and hardware devicesthat are specially configured to store program instructions, such asread-only memory devices (ROM), flash memory devices, EEPROMs, EPROMs,etc. and random access memory (RAM). Examples of program instructionsinclude both machine code, such as produced by a compiler, and filescontaining higher-level code that may be executed by the computer usingan interpreter.

The foregoing description, for purposes of explanation, used specificnomenclature to provide a thorough understanding of the invention.However, it will be apparent to one skilled in the art that the specificdetails are not required in order to practice the invention. Thus, theforegoing descriptions of specific embodiments of the present inventionare presented for purposes of illustration and description. They are notintended to be exhaustive or to limit the invention to the precise formsdisclosed. It will be apparent to one of ordinary skill in the art thatmany modifications and variations are possible in view of the aboveteachings.

While the embodiments have been described in terms of several particularembodiments, there are alterations, permutations, and equivalents, whichfall within the scope of these general concepts. It should also be notedthat there are many alternative ways of implementing the methods andapparatuses of the present embodiments. It is therefore intended thatthe following appended claims be interpreted as including all suchalterations, permutations, and equivalents as fall within the truespirit and scope of the described embodiments.

What is claimed is:
 1. A hover system comprising: an electric motorincluding a winding, a first set of permanent magnets and a firststructure which holds the first permanent magnets wherein an electriccurrent is applied to the winding to cause one of the winding or thefirst set of permanent magnets to rotate; a second structure, configuredto receive a rotational torque from the electric motor to rotate thesecond structure, the second structure holding a second set of permanentmagnets wherein the second set of permanent magnets are rotated toinduce eddy currents in a substrate such that the induced eddy currentsand the second set of permanent magnets interact to generate lift forcesand propulsive forces; a platform; a joint, coupled to the platform,wherein the joint is configured to allow the electric motor to tiltaround two or more different axes relative to the platform to changedirections in which the propulsive forces are generated; and a pluralityof actuators configured to tilt the electric motor around the two ormore different axes.
 2. The hover system of claim 1, wherein the jointis a ball joint.
 3. The hover system of claim 1, further a speedcontroller, coupled to the electric motor, configured to power from anelectric power source and send the electric current to the electricmotor.
 4. The hover system of claim 3 the electric power source is anon-board power source such that the lift forces lift the electric powersource.
 5. The hover system of claim 1, wherein the one or more of theplurality of actuators includes a piston.
 6. The hover system of claim1, further comprises a housing which at least partially encloses theelectric motor and the second structure.
 7. The hover system of claim 6,wherein joint is coupled to the housing.
 8. The hover system of claim 1,further comprising a housing that fully encloses the windings, the firstset of permanent magnets and the second set of permanent magnets
 9. Thehover system of claim 1, wherein joint is coupled to a static portion ofthe electric motor.
 10. The hover system of claim 1, wherein first setof permanent magnets is disposed on a side of the windings within aradial distance range that is greater than the windings.
 11. The hoversystem of claim 10, wherein the second set of permanent magnets isdisposed beneath the windings and the first set of permanent magnets.12. The hover system of claim 1, further comprising a flight controlboard.
 13. The hover system of claim 12, wherein the flight controlboard includes one or more of a 3-axis accelerometer, a 3-axisgyroscope, a compass and combinations thereof.
 14. The hover system ofclaim 12, wherein the flight control board is configured to send controlsignals to the plurality of actuators to control a tilt position of theelectric motor.
 15. The hover system of claim 12, wherein the flightcontrol board is configured to send control signals to a speedcontroller coupled to the electric motor to control operating parametersof the electric motor.
 16. The hover system of claim 1, wherein theelectric motor is an AC motor or a DC motor.
 17. The hover system ofclaim 1, wherein the electric motor includes a rotatable shaft which iscoupled to the second structure.
 18. The hover system of claim 1,wherein the electric motor causes a belt to rotate wherein the belt iscoupled to the second structure.
 19. The hover system of claim 1,further comprising a third structure, configured to receive therotational torque from the electric motor to rotate the third structure,the third structure holding a third set of permanent magnets wherein thethird set of permanent magnets are rotated to induce eddy currents inthe substrate such that the induced eddy currents and the third set ofpermanent magnets interact to generate the lift forces and thepropulsive forces.
 20. The hover system of claim 1, wherein theelectrical motor is configured to rotate up to 10,000 RPM.